Multi-Target Detection and Tracking from a Single Camera in Unmanned Aerial Vehicles (UAVs)
Authors
Li, Jing
Ye, Dong Hye
Chung, Timothy
Kolsch, Mathias
Wachs, Juan
Bouman, Charles
Subjects
Advisors
Date of Issue
2016-10
Date
October 9-14, 2016
Publisher
IEEE
Language
Abstract
Despite the recent flight control regulations, Unmanned Aerial Vehicles (UAVs) are still gaining popularity in
civilian and military applications, as much as for personal use.
Such emerging interest is pushing the development of effective
collision avoidance systems. Such systems play a critical role
UAVs operations especially in a crowded airspace setting.
Because of cost and weight limitations associated with UAVs
payload, camera based technologies are the de-facto choice
for collision avoidance navigation systems. This requires multitarget detection and tracking algorithms from a video, which
can be run on board efficiently. While there has been a great
deal of research on object detection and tracking from a
stationary camera, few have attempted to detect and track small
UAVs from a moving camera.
In this paper, we present a new approach to detect and
track UAVs from a single camera mounted on a different UAV.
Initially, we estimate background motions via a perspective
transformation model and then identify distinctive points in
the background subtracted image. We find spatio-temporal
traits of each moving object through optical flow matching
and then classify those candidate targets based on their motion
patterns compared with the background. The performance
is boosted through Kalman filter tracking. This results in
temporal consistency among the candidate detections. The
algorithm was validated on video datasets taken from a UAV.
Results show that our algorithm can effectively detect and track
small UAVs with limited computing resources.
Type
Article
Description
The article of record as published may be found at http://dx.doi.org/10.1109/IROS.2016.7759733
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Daejeon Convention Center October 9-14, 2016, Daejeon, Korea
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Daejeon Convention Center October 9-14, 2016, Daejeon, Korea
Series/Report No
Department
Electrical and Computer Engineering (ECE)
Systems Engineering (SE)
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Naval Postgraduate School
Funder
NPSBAA-14-004
Format
6 p.
Citation
Li, Jing, et al. "Multi-target detection and tracking from a single camera in Unmanned Aerial Vehicles (UAVs)." 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2016.
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.