Details

Autor(en) / Beteiligte

• Liu, Xuancen
• Yang, Yueneng
• Ma, Chenxiang
• Li, Jie
• Zhang, Shifeng

Titel

Real-Time Visual Tracking of Moving Targets Using a Low-Cost Unmanned Aerial Vehicle with a 3-Axis Stabilized Gimbal System

Ist Teil von

• Applied sciences, 2020-08, Vol.10 (15), p.5064

Ort / Verlag

Basel: MDPI AG

Erscheinungsjahr

2020

Link zum Volltext

Quelle

EZB Electronic Journals Library

Beschreibungen/Notizen

• Unmanned Aerial Vehicles (UAVs) have recently shown great performance collecting visual data through autonomous exploration and mapping, which are widely used in reconnaissance, surveillance, and target acquisition (RSTA) applications. In this paper, we present an onboard vision-based system for low-cost UAVs to autonomously track a moving target. Real-time visual tracking is achieved by using an object detection algorithm based on the Kernelized Correlation Filter (KCF) tracker. A 3-axis gimbaled camera with separate Inertial Measurement Unit (IMU) is used to aim at the selected target during flights. The flight control algorithm for tracking tasks is implemented on a customized quadrotor equipped with an onboard computer and a microcontroller. The proposed system is experimentally validated by successfully chasing a ground and aerial target in an outdoor environment, which has proven its reliability and efficiency.