|
|||||
|
|
Autonomous feature following for visual surveillance using a small unmanned aerial vehicle with gimbaled camera system |
|
| Authors: | Deok-Jin Lee Isaac Kaminer Vladimir Dobrokhodov Kevin Jones |
| Affiliation: | (1) School of Electrical and Computer Engineering, Chungnam National University, 220 Gung-Dong, Yusong-Gu, Daejeon, 305-764, South Korea;(2) Navicom Research & Development Center, Sinseong-dong 100, Yuseong-gu, Daejeon, 305-345, South Korea;(3) School of Electrical and Electronics Engineering, Chungbuk National University, Cheongju, 361-763, South Korea;(4) Satellite Navigation and Positioning (SNAP) Group School of Surveying and Spatial Information Systems, The University of New South Wales, Sydney, NSW, 2052, Australia |
| Abstract: | This paper represents the development of feature following control and distributed navigation algorithms for visual surveillance using a small unmanned aerial vehicle equipped with a low-cost imaging sensor unit. An efficient map-based feature generation and following control algorithm is developed to make an onboard imaging sensor to track a target. An efficient navigation system is also designed for real-time position and velocity estimates of the unmanned aircraft, which is used as inputs for the path following controller. The performance of the proposed autonomous path following capability with a stabilized gimbaled camera onboard a small unmanned aerial robot is demonstrated through flight tests with application to target tracking for real-time visual surveillance. |
| Keywords: | |
| 本文献已被 SpringerLink 等数据库收录！ | |