%0 Conference Proceedings
%F Teuliere11a
%A Teulière, C.
%A Eck, L.
%A Marchand, E.
%T Chasing a moving target from a flying UAV
%B IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'11
%P 4929-4934
%C San Francisco, USA
%X This paper proposes a vision-based algorithm to autonomously track and chase a moving target with a small- size flying UAV. The challenging constraints associated with the UAV flight led us to consider a density-based representation of the object to track. The proposed approach to estimate the target's position, orientation and scale, is built on a robust color- based tracker using a multi-part representation. This object tracker can handle large displacements, occlusions and account for some image noise due to partial loss of wireless video link, thanks to the use of a particle filter. The information obtained from the visual tracker is then used to control the position and yaw angle of the UAV in order to chase the target. A hierarchical control scheme is designed to achieve the tracking task. Experiments on a quad-rotor UAV following a small moving car are provided to validate the proposed approach
%U http://rainbow-doc.irisa.fr/pdf/2011_iros_teuliere.pdf
%U http://dx.doi.org/10.1109/IROS.2011.6048050
%8 September
%D 2011