μ-UAV based dynamic target tracking for surveillance and exploration

Harish Bhaskar, Jorge Dias, Lakmal Seneviratne, Mohammed Al-Mualla

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

1 Scopus citations

Abstract

This paper presents an autonomous computer vision system for tracking multiple dynamic ground targets, from images acquired by a camera onboard of a μ-UAV. The method proposed is a self adaptive technique that seamlessly integrates ego-motion compensation with target detection and tracking to provide robust localisation of ground targets. Ego-motion compensation is achieved through establishing homographies using target independent invariant feature descriptors. Targets are then detected using a novel background learning strategy where the optical flow field is fused together with a dynamic background model for accurate foreground extraction. In addition, the paper also reports the use of a Monte Carlo joint probabilistic data association filter for tracking multiple unknown targets. The field tests demonstrate the capabilities of the vision system based on experimental results on images captured by a camera on-board of quadrators (μ-UAV).

Original languageBritish English
Title of host publicationAdvances in Visual Computing - 10th International Symposium, ISVC 2014, Proceedings
EditorsJason Jerald, George Bebis, Bahram Parvin, Zhigang Deng, Richard Boyle, El Choubassi Maha, Hui Zhang, Darko Koracin, Ryan McMahan, Steven M. Drucker, Mark Carlson, Kambhamettu Chandra
PublisherSpringer Verlag
Pages445-456
Number of pages12
ISBN (Electronic)9783319142487
StatePublished - 2014
Event10th International Symposium on Visual Computing, ISVC 2014 - Las Vegas, United States
Duration: 8 Dec 201410 Dec 2014

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume8887
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference10th International Symposium on Visual Computing, ISVC 2014
Country/TerritoryUnited States
CityLas Vegas
Period8/12/1410/12/14

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