Detecting, Localizing and Following Dynamic Objects with a Mini-UAV

Baira Ojeda, Ismael and Garzón Oviedo, Mario Andrei and Barrientos Cruz, Antonio (2016). Detecting, Localizing and Following Dynamic Objects with a Mini-UAV. In: "RoboCity16 Open Conference on Future Trends in Robotics", May 26 - 27th 2016, Madrid, Span. ISBN 978-84-608-8452-1. pp. 275-282.

Description

Title: Detecting, Localizing and Following Dynamic Objects with a Mini-UAV
Author/s:
  • Baira Ojeda, Ismael
  • Garzón Oviedo, Mario Andrei
  • Barrientos Cruz, Antonio
Item Type: Presentation at Congress or Conference (Article)
Event Title: RoboCity16 Open Conference on Future Trends in Robotics
Event Dates: May 26 - 27th 2016
Event Location: Madrid, Span
Title of Book: RoboCity16 Open Conference on Future Trends in Robotics
Date: 27 May 2016
ISBN: 978-84-608-8452-1
Subjects:
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
UPM's Research Group: Robótica y Cibernética RobCib
Creative Commons Licenses: Recognition

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Abstract

This paper presents an approach for the detection, localization and following of dynamic terrestrial objects using a mini-UAV. The development is intended to be used for surveillance of large infrastructures. The detection algorithm is based on finding several pre-defined characteristics of the target, such as color, shape and size. The process used to localize the target, once it is detected, is based on an inversion of the Pinhole camera model. The task of following the Summit XL was designed to keep the target inside the field of view of the camera, and it was implemented in the form of a PID controller. The system has been tested both in simulation and with real robots, showing promising results.

Funding Projects

TypeCodeAcronymLeaderTitle
Government of SpainDPI2014-56985-RPRICAntonio Barrientos CruzProtección Robotizada de Infraestructuras Críticas
Madrid Regional GovernmentS2013/MIT-2748RoboCity2030-III-CMUnspecifiedRobótica aplicada a la mejora de la calidad de vida de los ciudadanos. Fase III;

More information

Item ID: 41144
DC Identifier: http://oa.upm.es/41144/
OAI Identifier: oai:oa.upm.es:41144
Official URL: http://www.car.upm-csic.es/events/robocity16/
Deposited by: Mario Andrei Garzón Oviedo
Deposited on: 14 Jun 2016 07:34
Last Modified: 18 Aug 2017 10:30
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