Title :
A Vision-Based Ground Target Tracking System for a Small-Scale Autonomous Helicopter
Author :
Deng, Haibo ; Zhao, Xiaoguang ; How, Z.G.
Author_Institution :
Key Lab. of Complex Syst. & Intell. Sci., Chinese Acad. of Sci., Beijing, China
Abstract :
In this paper, we present a visual system to drive an autonomous small-scale helicopter to track a ground target. The vision system is monocular, and the on-board camera is fixed. Since the time-varying attitude of helicopter can bring trouble to vision algorithm design, we developed an attitude compensation algorithm. The real flight experiments show that the vision system can perform in real-time, and track a ground target successfully.
Keywords :
helicopters; image sensors; mobile robots; robot vision; target tracking; attitude compensation algorithm; on-board camera; small-scale autonomous helicopter; vision-based ground target tracking system; visual system; Cameras; Control systems; Helicopters; Machine vision; Nonlinear dynamical systems; Target tracking; Unmanned aerial vehicles; Vehicle dynamics; Velocity control; Video surveillance;
Conference_Titel :
Image and Graphics, 2009. ICIG '09. Fifth International Conference on
Conference_Location :
Xi´an, Shanxi
Print_ISBN :
978-1-4244-5237-8
DOI :
10.1109/ICIG.2009.132
