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dc.contributor.authorMueller, Matthias
dc.contributor.authorSharma, Gopal
dc.contributor.authorSmith, Neil
dc.contributor.authorGhanem, Bernard
dc.date.accessioned2017-01-02T09:55:31Z
dc.date.available2017-01-02T09:55:31Z
dc.date.issued2016-12-19
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.
dc.identifier.doi10.1109/IROS.2016.7759253
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.
dc.description.sponsorshipThis work was supported by KAUST, Saudi Arabia
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)
dc.relation.urlhttp://ieeexplore.ieee.org/document/7759253/
dc.titlePersistent Aerial Tracking system for UAVs
dc.typeConference Paper
dc.contributor.departmentComputer, Electrical and Mathematical Sciences and Engineering (CEMSE) Division
dc.contributor.departmentElectrical Engineering Program
dc.contributor.departmentVisual Computing Center (VCC)
dc.identifier.journal2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
dc.contributor.institutionDept. of Electrical Engineering, IIT Roorkee, India
kaust.personMueller, Matthias
kaust.personSmith, Neil
kaust.personGhanem, Bernard
dc.date.published-online2016-12-19
dc.date.published-print2016-10


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