Vision based ground object tracking using AR.Drone quadrotor

Author

Chi-Tinh Dang ; Hoang-The Pham ; Thanh-Binh Pham ; Nguyen-Vu Truong

Author_Institution

Dept. of Mechatron. Eng., HCMC Univ. of Tech. Educ., Ho Chi Minh City, Vietnam

fYear

2013

fDate

25-28 Nov. 2013

Firstpage

146

Lastpage

151

Abstract

This paper presents an approach to the ground object tracking problem of the low cost AR.Drone quadrotor via its integrated vision systems. It consists of three major components: (1) on-board vision based object detection and localization, (2) comprehensive empirical models of X-Y coordinate motion of the quad rotor and (3) closed-loop PD controllers on the ground station to generate steering commands via Wifi connection. The developed platform has been extensively validated in various testing environments, demonstrating its effectiveness.

Keywords

PD control; autonomous aerial vehicles; closed loop systems; helicopters; motion control; object detection; object tracking; robot vision; wireless LAN; AR.Drone quadrotor; Wi-Fi connection; Wireless Fidelity; X-Y coordinate motion; closed-loop PD controllers; integrated vision systems; on-board vision based object detection; on-board vision based object localization; proportional-derivative controllers; steering commands; vision based ground object tracking; Cameras; Hardware; Image color analysis; Object detection; PD control; Sensors; Target tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Information Sciences (ICCAIS), 2013 International Conference on

Conference_Location

Nha Trang

Print_ISBN

978-1-4799-0569-0

Type

conf

DOI

10.1109/ICCAIS.2013.6720545

Filename

6720545