Flores-Delgado, José Isaac (UMI-LAFMIA), Martínez-Santos, Laura Guadalupe (UMI-LAFMIA), Lozano, Rogelio (University of Technology of Compiègne), Gonzalez-Hernandez, Ivan (Cinvestav - IPN), Mercado Ravell, Diego Alberto (Universite de Technologie Compiegne)

Embedded Control Using Monocular Vision: Face Tracking

Scheduled for presentation during the "Micro- and Mini- UAS - IV" (FrA1), Friday, June 16, 2017, 10:00−10:20, Salon E

2017 International Conference on Unmanned Aircraft Systems, June 13-16, 2017, Miami Marriott Biscayne Bay, Miami, FL,

This information is tentative and subject to change. Compiled on April 20, 2024

Abstract

This paper presents a quadcopter capable of tracking a human face using an embedded system which consists of an autopilot for controlling the vehicle and an Odroid computer for image processing. Image acquisition is performed by a fisheye monocular camera. A digital treatment consisting of a Gaussian filter and a histogram equalization is applied, reducing false positives in the detection algorithm. The detection algorithm used is a cascade classifier (Haar algorithm), which is trained to detect a human face in an image. Depending on the displacement of the detected face, a Kalman filter is implemented to estimate the position and velocity which are used to follow the person.