Dynamic Target Tracking and Localization for Small UAV in Unstructured Outdoor Environment

Jun Hou, Liming Dai, Chunhui Zhao, Xiaolei Hou, Jinwen Hu, Yang Lyu

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This paper presents a visual perception system of small UAVs for tracking and localization of dynamic targets to tackle the issues caused by occlusions and similar target interference. A DTC-Tracker module comprising detector, tracker and checker is designed to improve the tracking performance in cluttered outdoor environments. A dynamic tracking result checking and target recapture mechanism are proposed to adaptively invoke detector and checker for better tracking robustness and real time performance on onboard embedded computer. An onboard depth camera and visual odometry are incorporated to localize the dynamic target in UAV’s local coordinates. Experiments on a multirotor UAV platform were conducted to verify the effectiveness and investigate the performance proposed approach in a grove.

Original languageEnglish
Title of host publicationProceedings of 2022 International Conference on Autonomous Unmanned Systems, ICAUS 2022
EditorsWenxing Fu, Mancang Gu, Yifeng Niu
PublisherSpringer Science and Business Media Deutschland GmbH
Pages203-213
Number of pages11
ISBN (Print)9789819904785
DOIs
StatePublished - 2023
EventInternational Conference on Autonomous Unmanned Systems, ICAUS 2022 - Xi'an, China
Duration: 23 Sep 202225 Sep 2022

Publication series

NameLecture Notes in Electrical Engineering
Volume1010 LNEE
ISSN (Print)1876-1100
ISSN (Electronic)1876-1119

Conference

ConferenceInternational Conference on Autonomous Unmanned Systems, ICAUS 2022
Country/TerritoryChina
CityXi'an
Period23/09/2225/09/22

Keywords

  • Target localization
  • UAV system
  • Visual tracking

Fingerprint

Dive into the research topics of 'Dynamic Target Tracking and Localization for Small UAV in Unstructured Outdoor Environment'. Together they form a unique fingerprint.

Cite this