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Vision based GPS-denied Object tracking and Following for Unmanned Aerial Vehicles

Congresses name: 

The 11th IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR 2013)

Place: 

Linköping (Sweden)

Date: 
Oct 21-26, 2013

We present a vision based control strategy for tracking and following objects using an Unmanned Aerial Vehicle. We have developed an image based visual servoing method that uses only a forward looking camera for tracking and following objects from a multi-rotor UAV, without any dependence on GPS systems. Our proposed method tracks a user specified object continuously while maintaining a fixed distance from the object and also simultaneously keeping it in the center of the image plane. The algorithm is validated using a Parrot AR Drone 2.0 in outdoor conditions while tracking and following people, occlusions and also fast moving objects; showing the robustness of the proposed systems against perturbations and illumination changes. Our experiments show that the system is able to track a great variety of objects present in suburban areas, among others: people, windows, AC machines, cars and plants.

Available online at: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6719359