Autonomous Feature Following for Visual Surveillance Using a Small Unmanned Aerial Vehicle with Gimbaled Camera System
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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.
The article of record as published may be located at http://dx.doi.org/10.1007/s12555-010-0504-1
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