Скачать или смотреть Real-Time Tracking a Ground Moving Target in Complex Indoor and Outdoor Environments with UAV

We present a complete strategy of tracking a ground moving target in complex indoor and outdoor environments with an unmanned aerial vehicle (UAV) based on computer vision. The main goal of this system is to track a ground moving target stably and get the target back when it is lost. An embedded camera on the UAV platform is used to provide real-time video stream to the onboard computer where the target recognition and tracking algorithms are running. A vision-based position estimator is applied to localize the position of UAV. According to the position of the ground target obtained from the 2-dimensional images, corresponding control strategy of the UAV is implemented. Simulation of UAV and ground moving target with the target-tracking system is performed to verify the feasibility of the mission. After the simulation verification, a series of real-time experiments are implemented to demonstrate the performance of the target-tracking strategy.