Detecting, Localizing and Following Dynamic Objects with a Mini-UAV

Ismael Baira Ojeda, M. Garzon, A. Barrientos

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Abstract

This paper presents an approach for the detection, localization and following of dynamic terrestrial objects using a mini-UAV. The development is intended to be used for surveillance of large infrastructures. The detection algorithm is based on finding several pre-defined characteristics of the target, such as color, shape and size. The process used to localize the target, once it is detected, is based on an inversion of the Pinhole camera model. The task of following the Summit XL was designed to keep the target inside the field of view of the camera, and it was implemented in the form of a PID controller. The system has been tested both in simulation and with real robots, showing promising results.
Original languageEnglish
Title of host publicationRoboCity16 Open Conference on Future Trends in Robotics
EditorsRoemi E. Fernández Saavedra, Héctor Montes Franceschi
Publication date2016
Pages275-282
Chapter34
ISBN (Print)978-84-608-8452-1
Publication statusPublished - 2016
Externally publishedYes
EventRoboCity16 Open Conference on Future Trends in Robotics - Madrid, Spain
Duration: 26 May 201627 May 2016

Conference

ConferenceRoboCity16 Open Conference on Future Trends in Robotics
CountrySpain
CityMadrid
Period26/05/201627/05/2016

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