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Design and Application of a Robust Vision Tracking System for Unmanned Rotorcraft
Fan BJ(范保杰); Du YK(杜英魁)
作者部门机器人学研究室
关键词Unmanned Aerial Vehicle Vision System Architecture Joint Color-texture Histogram Target Tracking
发表期刊机器人
ISSN1002-0446
2014
卷号36期号:5页码:600-608
收录类别EI ; CSCD
EI收录号20144700237804
CSCD记录号CSCD:5276785
产权排序2
资助机构National Natural Science Foundation of China (6120327)
摘要In order to satisfy the requirements of UAV’s aerial safety monitoring and surveillance of sensitive areas, a robust vision system for the rotor UAV is designed and implemented, which includes visual airborne subsystem, ground station subsystem and wireless communication subsystem. Complete sky-ground and human-computer interaction loops are constructed. Based on the developed UAV vision platform, a real-time target tracking algorithm under the mean shift tracking framework is developed. The joint color-texture histogram is used to represent the target robustly. With the help of moment information, the scale and the orientation of the tracked target is estimated adaptively during the tracking process. A model updating scheme for the target and the background is introduced to reduce the interferences from background and the locating biases. Numerical simulation and real flight tracking experiments demonstrate that the overall visual tracking system is effective and has superior performance against several state-of-the-art algorithms.
语种英语
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文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/15467
专题机器人学研究室
通讯作者Fan BJ(范保杰)
作者单位1.College of Automation, Nanjing University of Posts and Telecommunications, Nanjing, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
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Fan BJ,Du YK. Design and Application of a Robust Vision Tracking System for Unmanned Rotorcraft[J]. 机器人,2014,36(5):600-608.
APA Fan BJ,&Du YK.(2014).Design and Application of a Robust Vision Tracking System for Unmanned Rotorcraft.机器人,36(5),600-608.
MLA Fan BJ,et al."Design and Application of a Robust Vision Tracking System for Unmanned Rotorcraft".机器人 36.5(2014):600-608.
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