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
N1 - Publisher Copyright:
© 2019 IEEE.
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.
UR - http://www.scopus.com/inward/record.url?scp=85084040036&partnerID=8YFLogxK
U2 - 10.1109/IECON.2019.8927443
DO - 10.1109/IECON.2019.8927443
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 -