TY - GEN
T1 - A Vision-Based Ground Moving Target Tracking System for Quadrotor UAVs
AU - Tian, Runze
AU - Ji, Runze
AU - Bai, Chengchao
AU - Guo, Jifeng
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Nowadays, unmanned aerial vehicles (UAVs) are playing their potential and role in various fields due to their unique advantages, and many tasks require UAVs to have the ability to stably track ground targets. In this paper, we design a vision-based tracking system, using which a quadrotor UAV equipped with a fixed monocular camera can track a moving target on the ground. The visual scheme includes a lightweight YOLOv3-tiny detector and a KCF tracker to provide ground target perception. And the relative position estimation between UAV and target is obtained according to the line-of-sight angle calculation and the Kalman Filter method. As for the real-time approach of the quad rotor UAV to the target, we adopt a PID velocity controller to provide continuous tracking capability. Finally, the results of simulation and flight experiments demonstrate that the designed system can enable the quadrotor UAV to perform stable tracking of a moving target on the ground.
AB - Nowadays, unmanned aerial vehicles (UAVs) are playing their potential and role in various fields due to their unique advantages, and many tasks require UAVs to have the ability to stably track ground targets. In this paper, we design a vision-based tracking system, using which a quadrotor UAV equipped with a fixed monocular camera can track a moving target on the ground. The visual scheme includes a lightweight YOLOv3-tiny detector and a KCF tracker to provide ground target perception. And the relative position estimation between UAV and target is obtained according to the line-of-sight angle calculation and the Kalman Filter method. As for the real-time approach of the quad rotor UAV to the target, we adopt a PID velocity controller to provide continuous tracking capability. Finally, the results of simulation and flight experiments demonstrate that the designed system can enable the quadrotor UAV to perform stable tracking of a moving target on the ground.
KW - Kalman Filter
KW - Target tracking system
KW - Visual detection and tracking
KW - quadrotor unmanned aerial vehicle (UAV)
UR - https://www.scopus.com/pages/publications/85180129605
U2 - 10.1109/ICUS58632.2023.10318456
DO - 10.1109/ICUS58632.2023.10318456
M3 - 会议稿件
AN - SCOPUS:85180129605
T3 - Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023
SP - 1750
EP - 1754
BT - Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023
A2 - Song, Rong
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 IEEE International Conference on Unmanned Systems, ICUS 2023
Y2 - 13 October 2023 through 15 October 2023
ER -