A hierarchical strategy for real-time tracking on-board UAVs

Martínez Luna, Carol Viviana; Campoy Cervera, Pascual; Mondragon Bernal, Ivan Fernando; Sánchez López, José Luis y Olivares Méndez, Miguel Ángel (2012). A hierarchical strategy for real-time tracking on-board UAVs. En: "2012 International Conference on Unmanned Aircraft Systems (ICUAS 2012)", 12/06/2012 - 15/06/2012, Philadelphia, PA USA. pp..

Descripción

Título: A hierarchical strategy for real-time tracking on-board UAVs
Autor/es:
  • Martínez Luna, Carol Viviana
  • Campoy Cervera, Pascual
  • Mondragon Bernal, Ivan Fernando
  • Sánchez López, José Luis
  • Olivares Méndez, Miguel Ángel
Tipo de Documento: Ponencia en Congreso o Jornada (Artículo)
Título del Evento: 2012 International Conference on Unmanned Aircraft Systems (ICUAS 2012)
Fechas del Evento: 12/06/2012 - 15/06/2012
Lugar del Evento: Philadelphia, PA USA
Título del Libro: 2012 International Conference on Unmanned Aircraft Systems (ICUAS 2012)
Fecha: 2012
Materias:
Escuela: E.T.S.I. Industriales (UPM)
Departamento: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Licencias Creative Commons: Reconocimiento - Sin obra derivada - No comercial

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Resumen

In this paper, we present a real-time tracking strategy based on direct methods for tracking tasks on-board UAVs, that is able to overcome problems posed by the challenging conditions of the task: e.g. constant vibrations, fast 3D changes, and limited capacity on-board. The vast majority of approaches make use of feature-based methods to track objects. Nonetheless, in this paper we show that although some of these feature-based solutions are faster, direct methods can be more robust under fast 3D motions (fast changes in position), some changes in appearance, constant vibrations (without requiring any specific hardware or software for video stabilization), and situations where part of the object to track is out the field of view of the camera. The performance of the proposed strategy is evaluated with images from real-flight tests using different evaluation mechanisms (e.g. accurate position estimation using a Vicon sytem). Results show that our tracking strategy performs better than well known feature-based algorithms and well known configurations of direct methods, and that the recovered data is robust enough for vision-in-the-loop tasks.

Más información

ID de Registro: 20685
Identificador DC: http://oa.upm.es/20685/
Identificador OAI: oai:oa.upm.es:20685
Depositado por: Memoria Investigacion
Depositado el: 26 Feb 2014 19:34
Ultima Modificación: 21 Abr 2016 23:29
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