Ma, Yue (Beijing Institute of Technology), Pei, Peng (Beijing Institute of Technology), Xiang, Changle (Beijing Institute of Technology), Yao, Shouwen (Beijing Institute of Technology), Gao, Yang (Beijing Institute of Technology)

KCF Based 3D Object Tracking Via RGB-D Camera of a Quadrotor

Scheduled for presentation during the "See-and-avoid Systems - I" (ThB2), Thursday, June 15, 2017, 15:05−15:25, Salon AB

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 24, 2024

Abstract

A real-time vision-based object tracking system embedded in a quadrotor is presented in this paper. The integrated system is expected to enable the quadrotor to track a target object and keep with a constant distance. A robust object tracking method via improving Kernelized Correlation Filters algorithm is proposed to achieve accurate visual tracking. In addition, a simple PID controller is applied to utilize the data from a RGB-D Camera. And the effectiveness of our proposed methods verified by experimental results.