Observatorio de I+D+i UPM

Memorias de investigación
Communications at congresses:
Robust real-time vision-based aircraft tracking from Unmanned Aerial Vehicles
Year:2014
Research Areas
  • Visual perception,
  • Aerial robots,
  • Autonomic robots,
  • Inspection robots,
  • Perception,
  • Visual inspection,
  • Vision on real-time
Information
Abstract
Aircraft tracking plays a key and important role in the Sense-and-Avoid system of Unmanned Aerial Vehicles (UAVs). This paper presents a novel robust visual tracking algorithm for UAVs in the midair to track an arbitrary aircraft at real-time frame rates, together with a unique evaluation system. This visual algorithm mainly consists of adaptive discriminative visual tracking method, Multiple-Instance (MI) learning approach, Multiple-Classifier (MC) voting mechanism and Multiple-Resolution (MR) representation strategy, that is called Adaptive M3 tracker, i.e. AM3. In this tracker, the importance of test sample has been integrated to improve the tracking stability, accuracy and real-time performances. The experimental results show that this algorithm is more robust, efficient and accurate against the existing state-of-art trackers, overcoming the problems generated by the challenging situations such as obvious appearance change, variant surrounding illumination, partial aircraft occlusion, blur motion, rapid pose variation and onboard mechanical vibration, low computation capacity and delayed information communication between UAVs and Ground Station (GS). To our best knowledge, this is the first work to present this tracker for solving online learning and tracking freewill aircraft/intruder in the UAVs.
International
Si
Congress
IEEE International Conference on Robotics and Automation (ICRA)
960
Place
HONG KONG
Reviewers
Si
ISBN/ISSN
978-1-4799-3685-4
10.1109/ICRA.2014.6907659
Start Date
31/05/2014
End Date
07/06/2014
From page
5441
To page
5446
Robust real-time vision-based aircraft tracking from Unmanned Aerial Vehicles
Participants
  • Autor: Changhong Fu (UPM)
  • Autor: Adrián Carrió Fernández (UPM)
  • Autor: Miguel Ángel Olivares Mendez (UPM)
  • Autor: Ramon Suarez Fernandez (Universidad Politecnica de Madrid)
  • Autor: Pascual Campoy Cervera (UPM)
Research Group, Departaments and Institutes related
  • Creador: Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
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