Publication:
Autonomous Feature Following for Visual Surveillance Using a Small Unmanned Aerial Vehicle with Gimbaled Camera System

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Authors
Lee, Deok-Jin
Kaminer, Isaac
Dobrokhodov, Vladimir
Jones, Kevin
Subjects
Autonomous navigation
imaging sensors
path following control
real-time visual surveillance
stabilized gimbaled camera
unmanned aerial robots
Advisors
Date of Issue
2010
Date
Publisher
Language
Abstract
This paper represents the development of feature following control and distributed navigation algorithms for visual surveillance using a small unmanned aerial vehicle equipped with a low-cost imaging sensor unit. An efficient map-based feature generation and following control algorithm is developed to make an onboard imaging sensor to track a target. An efficient navigation system is also designed for real-time position and velocity estimates of the unmanned aircraft, which is used as inputs for the path following controller. The performance of the proposed autonomous path following capability with a stabilized gimbaled camera onboard a small unmanned aerial robot is demonstrated through flight tests with application to target tracking for real-time visual surveillance.
Type
Article
Description
The article of record as published may be located at http://dx.doi.org/10.1007/s12555-010-0504-1
Series/Report No
Department
Mechanical and Astronautical Engineering
Identifiers
NPS Report Number
Sponsors
Funder
Format
Citation
International Journal of Control, Automation, and Systems, (2010), Volume 8, Number 5, pp. 957-966
Distribution Statement
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.
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