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    Persistent Aerial Tracking system for UAVs

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    Type
    Conference Paper
    Authors
    Mueller, Matthias cc
    Sharma, Gopal
    Smith, Neil
    Ghanem, Bernard cc
    KAUST Department
    Computer, Electrical and Mathematical Sciences and Engineering (CEMSE) Division
    Electrical Engineering Program
    Visual Computing Center (VCC)
    Date
    2016-12-19
    Online Publication Date
    2016-12-19
    Print Publication Date
    2016-10
    Permanent link to this record
    http://hdl.handle.net/10754/622585
    
    Metadata
    Show full item record
    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.
    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 Arabia
    Publisher
    Institute of Electrical and Electronics Engineers (IEEE)
    Journal
    2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    DOI
    10.1109/IROS.2016.7759253
    Additional Links
    http://ieeexplore.ieee.org/document/7759253/
    ae974a485f413a2113503eed53cd6c53
    10.1109/IROS.2016.7759253
    Scopus Count
    Collections
    Conference Papers; Electrical and Computer Engineering Program; Visual Computing Center (VCC); Computer, Electrical and Mathematical Science and Engineering (CEMSE) Division

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