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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)
Department机器人学研究室
Source Publication机器人
ISSN1002-0446
2014
Volume36Issue:5Pages:600-608
Indexed ByEI ; CSCD
EI Accession number20144700237804
CSCD IDCSCD:5276785
Contribution Rank2
Funding OrganizationNational Natural Science Foundation of China (6120327)
KeywordUnmanned Aerial Vehicle Vision System Architecture Joint Color-texture Histogram Target Tracking
AbstractIn 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.
Language英语
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/15467
Collection机器人学研究室
Corresponding AuthorFan BJ(范保杰)
Affiliation1.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
Recommended Citation
GB/T 7714
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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