Memorias de investigación
Ponencias en congresos:
A Hierarchical Strategy for Real-Time Tracking On-Board UAVs
Año:2012
Áreas de investigación
  • Ingenierías
Datos
Descripción
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.
Internacional
Si
Nombre congreso
The 2012 International Conference on Unmanned Aircraft Systems ICUAS 2012
Tipo de participación
960
Lugar del congreso
Philadelphia, PA USA
Revisores
Si
ISBN o ISSN
00-0000-000-0
DOI
Fecha inicio congreso
12/06/2012
Fecha fin congreso
15/06/2012
Desde la página
0
Hasta la página
0
Título de las actas
The 2012 International Conference on Unmanned Aircraft Systems ICUAS 2012
Esta actividad pertenece a memorias de investigación
Participantes
  • Autor: Carol Viviana Martinez Luna UPM
  • Autor: Pascual Campoy Cervera UPM
  • Autor: Ivan Fernando Mondragon Bernal UPM
  • Autor: Jose Luis Sanchez Lopez UPM
  • Autor: Miguel Ángel Olivares Mendez UPM
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Grupo de Investigación: Computer Vision
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial