Vision based GPS-denied Object Tracking and Following for Unmanned Aerial Vehicles Conference Paper uri icon

abstract

  • We present a vision based control strategy for tracking and following objects using an Unmanned Aerial Vehicle. We have developed an image based visual servoing method that uses only a forward looking camera for tracking and following objects from a multi-rotor UAV, without any dependence on GPS systems. Our proposed method tracks a user specified object continuously while maintaining a fixed distance from the object and also simultaneously keeping it in the center of the image plane. The algorithm is validated using a Parrot AR Drone 2.0 in outdoor conditions while tracking and following people, occlusions and also fast moving objects; showing the robustness of the proposed systems against perturbations and illumination changes. Our experiments show that the system is able to track a great variety of objects present in suburban areas, among others: people, windows, AC machines, cars and plants. 2013 IEEE.

name of conference

  • 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)

published proceedings

  • 2013 IEEE INTERNATIONAL SYMPOSIUM ON SAFETY, SECURITY, AND RESCUE ROBOTICS (SSRR)

author list (cited authors)

  • Pestana, J., Luis Sanchez-Lopez, J., Campoy, P., & Saripalli, S.

citation count

  • 65

complete list of authors

  • Pestana, Jesus||Luis Sanchez-Lopez, Jose||Campoy, Pascual||Saripalli, Srikanth

publication date

  • October 2013