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题名: Design and Application of a Robust Vision Tracking System for Unmanned Rotorcraft
作者: 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
刊名: 机器人
ISSN号: 1002-0446
出版日期: 2014
卷号: 36, 期号:5, 页码:600-608
收录类别: EI ; CSCD
产权排序: 2
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.
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内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/15467
Appears in Collections:机器人学研究室_期刊论文

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