@inproceedings{d53c204ad46e4a1c8d31d08906ad01da,
title = "μ-UAV based dynamic target tracking for surveillance and exploration",
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).",
author = "Harish Bhaskar and Jorge Dias and Lakmal Seneviratne and Mohammed Al-Mualla",
note = "Publisher Copyright: {\textcopyright} Springer International Publishing Switzerland 2014.; 10th International Symposium on Visual Computing, ISVC 2014 ; Conference date: 08-12-2014 Through 10-12-2014",
year = "2014",
language = "British English",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
pages = "445--456",
editor = "Jason Jerald and George Bebis and Bahram Parvin and Zhigang Deng and Richard Boyle and Maha, \{El Choubassi\} and Hui Zhang and Darko Koracin and Ryan McMahan and Drucker, \{Steven M.\} and Mark Carlson and Kambhamettu Chandra",
booktitle = "Advances in Visual Computing - 10th International Symposium, ISVC 2014, Proceedings",
address = "Germany",
}