Tablet PC-based Visual Target-Following System for Quadrotors

Authors:
Jeongwoon Kim;David Hyunchul Shim;James R. Morrison
Affiliations:
Department of Aerospace Engineering, KAIST, Daejeon, South Korea;Department of Aerospace Engineering, KAIST, Daejeon, South Korea;Department of Aerospace Engineering, KAIST, Daejeon, South Korea
Venue:
Journal of Intelligent and Robotic Systems
Year:
2014

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Abstract

This paper proposes a vision-based, closed-loop target-following system for quadrotors. The system consists of a vision-based target detection algorithm that uses the color and image moment of a given target. Flight control commands are directly generated based on the offset of the target from the image frame center. The image processing and control algorithms have been implemented on a latest tablet computer, which is capable of running those algorithms in real time. The proposed system was demonstrated using a commercially available quadrotor platform equipped with a forward-facing camera. Experiments and their analyses showed satisfactory target following performance.