Observatorio de I+D+i UPM

Memorias de investigación
Research Publications in journals:
A Real-Time Method to Detect and Track Moving Objects (DATMO) from Unmanned Aerial Vehicles (UAVs) Using a Single Camera
Year:2012
Research Areas
  • Multirobot systems,
  • Aerial robots,
  • Autonomic robots,
  • Inspection robots,
  • Exterior robots
Information
Abstract
We develop a real-time method to detect and track moving objects (DATMO) from unmanned aerial vehicles (UAVs) using a single camera. To address the challenging characteristics of these vehicles, such as continuous unrestricted pose variation and low-frequency vibrations, new approaches must be developed. The main concept proposed in this work is to create an artificial optical flow field by estimating the camera motion between two subsequent video frames. The core of the methodology consists of comparing this artificial flow with the real optical flow directly calculated from the video feed. The motion of the UAV between frames is estimated with available parallel tracking and mapping techniques that identify good static features in the images and follow them between frames. By comparing the two optical flows, a list of dynamic pixels is obtained and then grouped into dynamic objects. Tracking these dynamic objects through time and space provides a filtering procedure to eliminate spurious events and misdetections. The algorithms have been tested with a quadrotor platform using a commercial camera.
International
Si
JCR
Si
Title
Remote Sensing
ISBN
2072-4292
Impact factor JCR
2,101
Impact info
7/27 (Q2)
Volume
4
10.3390/rs4041090
Journal number
4
From page
1090
To page
1111
Month
SIN MES
Ranking
Participants
  • Autor: Gonzalo Ruy Rodríguez Canosa (UPM)
  • Autor: Stephen Thomas (University of Auckland)
  • Autor: Antonio Barrientos Cruz (UPM)
  • Autor: Jaime del Cerro Giner (UPM)
  • Autor: Bruce MacDonald (University of Auckland)
Research Group, Departaments and Institutes related
  • Creador: Departamento: Automática, Ingeniería Electrónica e Informática Industrial
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