Research on Target Tracking System of Quadrotor UAV Based on Monocular Vision
- 1 November 2019
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 4772-4775
Abstract
To solve the problem with complex structure and low resource utilization of traditional target tracking UAV system based on visual guidance, this paper discusses an implementation method of quadrotor UAV target tracking system based on OpenMV. This system mainly includes flight control system and visual guidance system. TM4C123GH6PMI was selected as the control unit for flight control system. Six-axis motion sensor and digital magnetometer were combined into the pose measurement module. And ultrasonic sensor was selected to get the altitude information for drone. This system took OpenMV as the visual guidance system for target detection and position. For the real-time and accuracy requirements of the tracking system, the centroid-based tracking algorithm was used for calculating and resolving the target. The experiment results show that the system is stable and reliable.Keywords
This publication has 11 references indexed in Scilit:
- Track Planning Model for Multi-UAV Based on New Multiple Ant Colony Algorithm2018
- Choriboard III: A Small and Powerful Flight Controller for Autonomous Vehicles2018
- Detect and avoid system based on multi sensor fusion for UAV2018
- Target Detection, Positioning and Tracking Using New UAV Gas Sensor Systems: Simulation and AnalysisJournal of Intelligent & Robotic Systems, 2018
- A PD nonlinear dynamic inverse guidance law based collision avoidance for UAVs2017
- Identification of autonomous landing sign for unmanned aerial vehicle based on faster regions with convolutional neural network2017
- An open source and open hardware embedded metric optical flow CMOS camera for indoor and outdoor applications2013
- A Fully Autonomous Indoor QuadrotorIEEE Transactions on Robotics, 2012
- Centroid Iteration algorithm for image trackingPattern Analysis and Applications, 2011
- Multi-targets Tracking Algorithm Based on Weighted Centroid2010