Image Based Object Tracking and Following for Quadrotor Vehicles Person running following, hud an
Автор: Vision4UAV
Загружено: 2013-10-02
Просмотров: 15561
Images are available, for research purposes, here:
In the CVG-UPM ftp (user:publicftp , pass:usuarioftp):
ftp://138.100.76.91/CVG_PUBLIC/DataSets/IBVS_ardrone2_datasets/
In google drive: http://bit.ly/1sp3qxG
We present a vision based control strategy for tracking and following objects using an Unmanned Aerial Vehicle. We have developed an image based visual servoing method that uses only a forward looking camera for tracking and following objects from a multi-rotor UAV, without any dependence on {GPS} systems. Our proposed method tracks a user specified object continuously while maintaining a fixed distance from the object and also simultaneously keeping it in the center of the image plane. The algorithm is validated using a Parrot AR Drone 2.0 in outdoor conditions while tracking and following people, occlusions and also fast moving objects; showing the robustness of the proposed systems against perturbations and illumination changes. Our experiments show that the system is able to track a great variety of objects present in suburban areas, among others: people, windows, AC machines, cars and plants.
http://robotics.asu.edu/ardrone2_ibvs/
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