Vision-based tracking and motion estimation for moving targets using unmanned air vehicles
Dobrokhodov, Vladimir N.
Kaminer, Isaac I.
Jones, Kevin D.
MetadataShow full item record
This paper addresses the development of a vision-based target tracking system for a small unmanned air vehicle. The algorithm performs autonomous tracking of a moving target, while simultaneously estimating geographic coordinates, speed, and heading of the target. Tight real-time integration of unmanned air vehicle’s video and telemetry data streams with georeferenced database allows for reliable target identiﬁcation, increased precision, and shortened time of target motion estimation. A low-cost off-the-shelf system is used, with a modiﬁed radiocontrolled aircraft airframe, gas engine, and servos. Tracking is enabled using a low-cost, miniature pan-tilt gimbal. The control algorithm provides rapid target acquisition and tracking capability. A target motion estimator was designed and shown in multiple ﬂight tests to provide reasonable targeting accuracy. The impact of tracking loss events on the control and estimation algorithms is analyzed in detail.
The article of record as published may be found at http://dx.doi.org/10.2514/1.33206
RightsThis 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.
Showing items related by title, author, creator and subject.
Robustness of control laws implemented in visual based target tracking system Lee, Han Chuan. (Monterey, California. Naval Postgraduate School, 2009-12);The previously developed guidance law implemented onboard the Small Unmanned Aerial Vehicle (SUAV) relies exclusively on the information from the image processing software and allows the performance of coordinated SUAV ...
Vision-Based Tracking and Motion Estimation for Moving Targets Using Small UAVs Dobrokhodov, Vladimir N.; Kaminer, Isaac I.; Jones, Kevin D.; Ghabchelo, Reza (2011-01);This paper addresses the development of a vision-based target tracking system for a small unmanned air vehicle. The algorithm performs autonomous tracking of a moving target, while simultaneously estimating GPS coordinates, ...
Adaptive Vision-Based Guidance Law with Guaranteed Performance Bounds Ma, L.; Cao, C.; Hovakimyan, N.; Dobrokhodov, V.; Kaminer, I.I (AIAA, 2010-05);This work discusses vision-based tracking of a ground vehicle moving with unknown time-varying velocity. The follower unmanned aerial vehicle is equipped with a single camera. The control objective is to regulate the two- ...