Karmokar, Pritam (University of Texas at Arlington), Dhal, Kashish (University of Texas at Arlington), Beksi, William (University of Texas at Arlington), Chakravarthy, Animesh (University of Texas at Arlington)

Vision-Based Guidance for Tracking Dynamic Objects

Scheduled for presentation during the Regular Session "Autonomy II" (FrB1), Friday, June 18, 2021, 11:40−12:00, Macedonia Hall

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

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

Abstract

In this paper, we present a novel vision-based framework for tracking dynamic objects using guidance laws based on a rendezvous cone approach. These guidance laws enable an unmanned aircraft system equipped with a monocular camera to continuously follow a moving object within the sensor's field of view. We identify and classify feature point estimators for managing the occurrence of occlusions during the tracking process in an exclusive manner. Furthermore, we develop an open-source simulation environment and perform a series of simulations to show the efficacy of our methods.