Title :
Multiple UAVs tracking algorithm with a multi-camera system
Author :
Won, Dae-Yeon ; Oh, Hyondong ; Huh, Sung-Sik ; Shim, David Hyunchul ; Tahk, Min-Jea
Author_Institution :
Dept. of Aerosp. Eng., KAIST, Daejeon, South Korea
Abstract :
This paper presents the tracking and estimation of indoor UAVs using multi-camera visual feedback. The proposed vision algorithm enhances the performance of the vision system by making up for a weakness of low cost camera such as poor resolution and large noise. For the pose estimation of multiple vehicles, data association algorithm using the geometric relation between cameras is employed in this paper.
Keywords :
computer vision; pose estimation; position control; remotely operated vehicles; sensor fusion; data association algorithm; geometric relation; indoor UAV estimation; indoor UAV tracking; multi-camera system; multi-camera visual feedback; multiple UAV tracking algorithm; multiple vehicles; pose estimation; vision system; Cameras; Geometry; Image color analysis; Nearest neighbor searches; Real time systems; Sensors; Unmanned aerial vehicles; Data Association; Multi-camera system; Multiple UAVs Tracking;
Conference_Titel :
Control Automation and Systems (ICCAS), 2010 International Conference on
Conference_Location :
Gyeonggi-do
Print_ISBN :
978-1-4244-7453-0
Electronic_ISBN :
978-89-93215-02-1
