This paper presents a visual perception system of small UAVs for tracking and localization of dynamic targets to tackle the issues caused by occlusions and similar target interference. A DTC-Tracker module comprising detector, tracker and checker is designed to improve the tracking performance in cluttered outdoor environments. A dynamic tracking result checking and target recapture mechanism are proposed to adaptively invoke detector and checker for better tracking robustness and real time performance on onboard embedded computer. An onboard depth camera and visual odometry are incorporated to localize the dynamic target in UAV’s local coordinates. Experiments on a multirotor UAV platform were conducted to verify the effectiveness and investigate the performance proposed approach in a grove.
Dynamic Target Tracking and Localization for Small UAV in Unstructured Outdoor Environment
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2022 ; Xi'an, China September 23, 2022 - September 25, 2022
Proceedings of 2022 International Conference on Autonomous Unmanned Systems (ICAUS 2022) ; Kapitel : 19 ; 203-213
2023-03-10
11 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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