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dc.contributor.authorDobrokhodov, Vladimir N.
dc.contributor.authorKaminer, Isaac I.
dc.contributor.authorJones, Kevin D.
dc.contributor.authorGhabcheloo, Reza
dc.date.accessioned2017-06-02T17:04:40Z
dc.date.available2017-06-02T17:04:40Z
dc.date.issued2008-07
dc.identifier.citationV.N. Dobrokhodov, I.I. Kaminer, K.D. Jones, R. Ghabcheloo, "Vision-based tracking and motion estimation for moving targets using unmanned air vehicles," Journal of Guidance, Control and Dynamics, v.31, no.4, (July-August 2008), pp. 907-917.en_US
dc.identifier.urihttp://hdl.handle.net/10945/53776
dc.descriptionThe article of record as published may be found at http://dx.doi.org/10.2514/1.33206
dc.description.abstractThis 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.en_US
dc.description.sponsorshipUnited States Special Operations Command (USSOCOM)
dc.format.extent11 p.en_US
dc.publisherAIAAen_US
dc.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.en_US
dc.titleVision-based tracking and motion estimation for moving targets using unmanned air vehiclesen_US
dc.typeArticleen_US
dc.contributor.corporateNaval Postgraduate School (U.S.)en_US
dc.contributor.departmentSystems Engineeringen_US


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