Srivastava, Raunak (Indian Institute Of Technology Bombay), Maity, Arnab (Indian Institute of Technology Bombay), Lima, Rolif (TCS Innovation labs), Das, Kaushik (TATA Consultancy Service)

Range Estimation and Visual Servoing of a Dynamic Target Using a Monocular Camera

Scheduled for presentation during the Regular Session "UAS Applications IV" (FrA3), Friday, September 4, 2020, 10:40−11:00, Edessa

2020 International Conference on Unmanned Aircraft Systems (ICUAS), September 1-4, 2020 (Postponed from June 9-12, 2020), Athens, Greece

This information is tentative and subject to change. Compiled on April 26, 2024

Abstract

This paper delves into the problem of tracking an unknown maneuvering target using only monocular visual feedback. It is usually difficult to perform target tracking using only monocular vision due to the absence of depth information. This restricts the use of commonly used Image and Position-based Visual Servoing methods. Hence, range estimation from monocular images has paramount importance if a conventional position based path planning algorithm is to be utilized. In this paper, we circumvent this problem using the angle subtended by the target on the follower in both 3D and image coordinate systems. Also, an Extended Kalman Filter is used to filter and get accurate range estimates of the moving target. The proposed method is extensively validated on a simulated setup created in Gazebo. Also, a Proportional Derivative (PD) controller is used to maintain a fixed standoff distance from the moving target while following it.