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Memorias de investigación
Artículos en revistas:
A Real-Time Method to Detect and Track Moving Objects (DATMO) from Unmanned Aerial Vehicles (UAVs) Using a Single Camera
Año:2012
Áreas de investigación
  • Sistemas multirobots,
  • Robots aéreos,
  • Robots autónomos,
  • Robots de inspección,
  • Robots de exteriores
Datos
Descripción
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.
Internacional
Si
JCR del ISI
No
Título de la revista
Remote Sensing
ISSN
2072-4292
Factor de impacto JCR
0
Información de impacto
Volumen
4
DOI
10.3390/rs4041090
Número de revista
4
Desde la página
1090
Hasta la página
1111
Mes
SIN MES
Ranking
Esta actividad pertenece a memorias de investigación
Participantes
  • Autor: Gonzalo Ruy Rodríguez Canosa (UPM)
  • Autor: Stephen Thomas (University of Auckland)
  • Autor: Bruce MacDonald (University of Auckland)
  • Autor: Antonio Barrientos Cruz (UPM)
  • Autor: Jaime del Cerro Giner (UPM)
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Grupo de Investigación: Robótica y Cibernética
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial
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