Vision Information and Laser Module Based UAV Target Tracking

Chang Liu; Yansui Song; Yuyan Guo; Bin Xu; Yu Zhang; Li Li; Zhen Li

doi:10.1109/IECON.2019.8927443

Vision Information and Laser Module Based UAV Target Tracking

Chang Liu, Yansui Song, Yuyan Guo, Bin Xu, Yu Zhang, Li Li, Zhen Li

School of Automation

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

This paper investigates the target tracking mission of an Unmanned Aerial Vehicle (UAV) equipped with a camera and a laser module. Firstly, utilizing Deep Neural Network (DNN) and Kernelized Correlation Filters (KCF), target recognition and location in the pixel coordinate system is achieved based on vision. Furthermore, by combining the laser ranging information and the distance estimation algorithm based on image, the distance between the UAV and the target is well estimated. To ensure the target tracking, a PID controller based on the distance error is applied to the UAV. The effectiveness of the system is verified on an actual UAV target tracking scenario.

Original language	English
Title of host publication	Proceedings
Subtitle of host publication	IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society
Publisher	IEEE Computer Society
Pages	186-191
Number of pages	6
ISBN (Electronic)	9781728148786
DOIs	https://doi.org/10.1109/IECON.2019.8927443
State	Published - Oct 2019
Event	45th Annual Conference of the IEEE Industrial Electronics Society, IECON 2019 - Lisbon, Portugal Duration: 14 Oct 2019 → 17 Oct 2019

Publication series

Name	IECON Proceedings (Industrial Electronics Conference)
Volume	2019-October

Conference

Conference	45th Annual Conference of the IEEE Industrial Electronics Society, IECON 2019
Country/Territory	Portugal
City	Lisbon
Period	14/10/19 → 17/10/19

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10.1109/IECON.2019.8927443

Cite this

Liu, C., Song, Y., Guo, Y., Xu, B., Zhang, Y., Li, L., & Li, Z. (2019). Vision Information and Laser Module Based UAV Target Tracking. In Proceedings: IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society (pp. 186-191). Article 8927443 (IECON Proceedings (Industrial Electronics Conference); Vol. 2019-October). IEEE Computer Society. https://doi.org/10.1109/IECON.2019.8927443

@inproceedings{d975a967a75f4524bff1ff150bdf5520,

title = "Vision Information and Laser Module Based UAV Target Tracking",

abstract = "This paper investigates the target tracking mission of an Unmanned Aerial Vehicle (UAV) equipped with a camera and a laser module. Firstly, utilizing Deep Neural Network (DNN) and Kernelized Correlation Filters (KCF), target recognition and location in the pixel coordinate system is achieved based on vision. Furthermore, by combining the laser ranging information and the distance estimation algorithm based on image, the distance between the UAV and the target is well estimated. To ensure the target tracking, a PID controller based on the distance error is applied to the UAV. The effectiveness of the system is verified on an actual UAV target tracking scenario.",

author = "Chang Liu and Yansui Song and Yuyan Guo and Bin Xu and Yu Zhang and Li Li and Zhen Li",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 45th Annual Conference of the IEEE Industrial Electronics Society, IECON 2019 ; Conference date: 14-10-2019 Through 17-10-2019",

year = "2019",

month = oct,

doi = "10.1109/IECON.2019.8927443",

language = "英语",

series = "IECON Proceedings (Industrial Electronics Conference)",

publisher = "IEEE Computer Society",

pages = "186--191",

booktitle = "Proceedings",

}

Liu, C, Song, Y, Guo, Y, Xu, B, Zhang, Y, Li, L & Li, Z 2019, Vision Information and Laser Module Based UAV Target Tracking. in Proceedings: IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society., 8927443, IECON Proceedings (Industrial Electronics Conference), vol. 2019-October, IEEE Computer Society, pp. 186-191, 45th Annual Conference of the IEEE Industrial Electronics Society, IECON 2019, Lisbon, Portugal, 14/10/19. https://doi.org/10.1109/IECON.2019.8927443

Vision Information and Laser Module Based UAV Target Tracking. / Liu, Chang; Song, Yansui; Guo, Yuyan et al.
Proceedings: IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society. IEEE Computer Society, 2019. p. 186-191 8927443 (IECON Proceedings (Industrial Electronics Conference); Vol. 2019-October).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Vision Information and Laser Module Based UAV Target Tracking

AU - Liu, Chang

AU - Song, Yansui

AU - Guo, Yuyan

AU - Xu, Bin

AU - Zhang, Yu

AU - Li, Li

AU - Li, Zhen

PY - 2019/10

Y1 - 2019/10

N2 - This paper investigates the target tracking mission of an Unmanned Aerial Vehicle (UAV) equipped with a camera and a laser module. Firstly, utilizing Deep Neural Network (DNN) and Kernelized Correlation Filters (KCF), target recognition and location in the pixel coordinate system is achieved based on vision. Furthermore, by combining the laser ranging information and the distance estimation algorithm based on image, the distance between the UAV and the target is well estimated. To ensure the target tracking, a PID controller based on the distance error is applied to the UAV. The effectiveness of the system is verified on an actual UAV target tracking scenario.

AB - This paper investigates the target tracking mission of an Unmanned Aerial Vehicle (UAV) equipped with a camera and a laser module. Firstly, utilizing Deep Neural Network (DNN) and Kernelized Correlation Filters (KCF), target recognition and location in the pixel coordinate system is achieved based on vision. Furthermore, by combining the laser ranging information and the distance estimation algorithm based on image, the distance between the UAV and the target is well estimated. To ensure the target tracking, a PID controller based on the distance error is applied to the UAV. The effectiveness of the system is verified on an actual UAV target tracking scenario.

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M3 - 会议稿件

AN - SCOPUS:85084040036

T3 - IECON Proceedings (Industrial Electronics Conference)

SP - 186

EP - 191

BT - Proceedings

PB - IEEE Computer Society

T2 - 45th Annual Conference of the IEEE Industrial Electronics Society, IECON 2019

Y2 - 14 October 2019 through 17 October 2019

ER -

Vision Information and Laser Module Based UAV Target Tracking

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