Type
Conference PaperKAUST Department
Computer, Electrical and Mathematical Sciences and Engineering (CEMSE) DivisionElectrical Engineering Program
Visual Computing Center (VCC)
Date
2016-12-19Online Publication Date
2016-12-19Print Publication Date
2016-10Permanent link to this record
http://hdl.handle.net/10754/622585
Metadata
Show full item recordAbstract
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.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.Sponsors
This work was supported by KAUST, Saudi ArabiaAdditional Links
http://ieeexplore.ieee.org/document/7759253/ae974a485f413a2113503eed53cd6c53
10.1109/IROS.2016.7759253