A Computational Approach to Edge Detection
IEEE Transactions on Pattern Analysis and Machine Intelligence
Tracking and data association
Motion Estimation with More than Two Frames
IEEE Transactions on Pattern Analysis and Machine Intelligence
The computation of optical flow
ACM Computing Surveys (CSUR)
Singular perturbation methods in control: analysis and design
Singular perturbation methods in control: analysis and design
Simultaneous ground moving target tracking and identification using wavelets features from HRR data
Information Sciences: an International Journal
Stabilization and Trajectory Tracking of a Quad-Rotor Using Vision
Journal of Intelligent and Robotic Systems
Vision Based Tracking for a Quadrotor Using Vanishing Points
Journal of Intelligent and Robotic Systems
Optimal sensor placement and motion coordination for target tracking
Automatica (Journal of IFAC)
Identification of a moving object's velocity with a fixed camera
Automatica (Journal of IFAC)
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An unmanned aerial vehicle (UAV) stabilization strategy based on computer vision and switching controllers is proposed. The main goal of this system is to perform tracking of a moving target on ground. The architecture implemented consists of a quadrotor equipped with an embedded camera which provides real-time video to a computer vision algorithm where images are processed. A vision-based estimator is proposed, which makes use of 2-dimensional images to compute the relative 3-dimensional position and translational velocity of the UAV with respect to the target. The proposed estimator provides the required states measurements to a micro-controller for stabilizing the vehicle during flight. The control strategy consists of switching controllers, which allows making decisions when the target is lost temporarily or when it is out of the camera's field of view. Real time experiments are presented to demonstrate the performance of the target-tracking system proposed.