Persistent Aerial Tracking system for UAVs

Handle URI:
http://hdl.handle.net/10754/622585
Title:
Persistent Aerial Tracking system for UAVs
Authors:
Mueller, Matthias; Sharma, Gopal; Smith, Neil; Ghanem, Bernard ( 0000-0002-5534-587X )
Abstract:
In this paper, we propose a persistent, robust and autonomous object tracking system for unmanned aerial vehicles (UAVs) called Persistent Aerial Tracking (PAT). A computer vision and control strategy is applied to a diverse set of moving objects (e.g. humans, animals, cars, boats, etc.) integrating multiple UAVs with a stabilized RGB camera. A novel strategy is employed to successfully track objects over a long period, by ‘handing over the camera’ from one UAV to another. We evaluate several state-of-the-art trackers on the VIVID aerial video dataset and additional sequences that are specifically tailored to low altitude UAV target tracking. Based on the evaluation, we select the leading tracker and improve upon it by optimizing for both speed and performance, integrate the complete system into an off-the-shelf UAV, and obtain promising results showing the robustness of our solution in real-world aerial scenarios.
KAUST Department:
Electrical Engineering Program
Citation:
Mueller M, Sharma G, Smith N, Ghanem B (2016) Persistent Aerial Tracking system for UAVs. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Available: http://dx.doi.org/10.1109/IROS.2016.7759253.
Publisher:
Institute of Electrical and Electronics Engineers (IEEE)
Journal:
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Issue Date:
19-Dec-2016
DOI:
10.1109/IROS.2016.7759253
Type:
Conference Paper
Sponsors:
This work was supported by KAUST, Saudi Arabia
Additional Links:
http://ieeexplore.ieee.org/document/7759253/
Appears in Collections:
Conference Papers; Electrical Engineering Program

Full metadata record

DC FieldValue Language
dc.contributor.authorMueller, Matthiasen
dc.contributor.authorSharma, Gopalen
dc.contributor.authorSmith, Neilen
dc.contributor.authorGhanem, Bernarden
dc.date.accessioned2017-01-02T09:55:31Z-
dc.date.available2017-01-02T09:55:31Z-
dc.date.issued2016-12-19en
dc.identifier.citationMueller M, Sharma G, Smith N, Ghanem B (2016) Persistent Aerial Tracking system for UAVs. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Available: http://dx.doi.org/10.1109/IROS.2016.7759253.en
dc.identifier.doi10.1109/IROS.2016.7759253en
dc.identifier.urihttp://hdl.handle.net/10754/622585-
dc.description.abstractIn this paper, we propose a persistent, robust and autonomous object tracking system for unmanned aerial vehicles (UAVs) called Persistent Aerial Tracking (PAT). A computer vision and control strategy is applied to a diverse set of moving objects (e.g. humans, animals, cars, boats, etc.) integrating multiple UAVs with a stabilized RGB camera. A novel strategy is employed to successfully track objects over a long period, by ‘handing over the camera’ from one UAV to another. We evaluate several state-of-the-art trackers on the VIVID aerial video dataset and additional sequences that are specifically tailored to low altitude UAV target tracking. Based on the evaluation, we select the leading tracker and improve upon it by optimizing for both speed and performance, integrate the complete system into an off-the-shelf UAV, and obtain promising results showing the robustness of our solution in real-world aerial scenarios.en
dc.description.sponsorshipThis work was supported by KAUST, Saudi Arabiaen
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en
dc.relation.urlhttp://ieeexplore.ieee.org/document/7759253/en
dc.titlePersistent Aerial Tracking system for UAVsen
dc.typeConference Paperen
dc.contributor.departmentElectrical Engineering Programen
dc.identifier.journal2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)en
dc.contributor.institutionDept. of Electrical Engineering, IIT Roorkee, Indiaen
kaust.authorMueller, Matthiasen
kaust.authorSmith, Neilen
kaust.authorGhanem, Bernarden
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