A Hierarchical Tracking Strategy for Vision-Based Applications On-Board UAVs

Martínez Luna, Carol Viviana, Mondragon Bernal, Ivan Fernando, Campoy Cervera, Pascual ORCID: https://orcid.org/0000-0002-9894-2009, Sánchez López, José Luis and Olivares Méndez, Miguel Ángel (2013). A Hierarchical Tracking Strategy for Vision-Based Applications On-Board UAVs. "Journal of intelligent & robotic systems: Theory & applications", v. 72 (n. 3-4); pp. 517-539. ISSN 0921-0296. https://doi.org/10.1007/s10846-013-9814-x.


Title: A Hierarchical Tracking Strategy for Vision-Based Applications On-Board UAVs
  • Martínez Luna, Carol Viviana
  • Mondragon Bernal, Ivan Fernando
  • Campoy Cervera, Pascual https://orcid.org/0000-0002-9894-2009
  • Sánchez López, José Luis
  • Olivares Méndez, Miguel Ángel
Item Type: Article
Título de Revista/Publicación: Journal of intelligent & robotic systems: Theory & applications
Date: December 2013
ISSN: 0921-0296
Volume: 72
Freetext Keywords: UAVs visual tracking, Direct methods, Vision-based landing, Pose estimation, Hierarchical tracking
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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In this paper, we apply a hierarchical tracking strategy of planar objects (or that can be assumed to be planar) that is based on direct methods for vision-based applications on-board UAVs. The use of this tracking strategy allows to achieve the tasks at real-time frame rates and to overcome problems posed by the challenging conditions of the tasks: e.g. constant vibrations, fast 3D changes, or 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 in which part of the object to track is outside of the field of view of the camera. The performance of the proposed tracking strategy on-board UAVs is evaluated with images from realflight tests using manually-generated ground truth information, accurate position estimation using a Vicon system, and also with simulated data from a simulation environment. Results show that the hierarchical tracking strategy performs better than wellknown feature-based algorithms and well-known configurations of direct methods, and that its performance is robust enough for vision-in-the-loop tasks, e.g. for vision-based landing tasks.

More information

Item ID: 29335
DC Identifier: https://oa.upm.es/29335/
OAI Identifier: oai:oa.upm.es:29335
DOI: 10.1007/s10846-013-9814-x
Official URL: http://link.springer.com/article/10.1007/s10846-01...
Deposited by: Memoria Investigacion
Deposited on: 01 Dec 2014 16:15
Last Modified: 15 Jan 2015 23:56
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