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

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

科研成果: 书/报告/会议事项章节会议稿件同行评审

摘要

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.

源语言英语
主期刊名Proceedings of 2022 International Conference on Autonomous Unmanned Systems, ICAUS 2022
编辑Wenxing Fu, Mancang Gu, Yifeng Niu
出版商Springer Science and Business Media Deutschland GmbH
203-213
页数11
ISBN(印刷版)9789819904785
DOI
出版状态已出版 - 2023
活动International Conference on Autonomous Unmanned Systems, ICAUS 2022 - Xi'an, 中国
期限: 23 9月 202225 9月 2022

出版系列

姓名Lecture Notes in Electrical Engineering
1010 LNEE
ISSN(印刷版)1876-1100
ISSN(电子版)1876-1119

会议

会议International Conference on Autonomous Unmanned Systems, ICAUS 2022
国家/地区中国
Xi'an
时期23/09/2225/09/22

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