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http://dx.doi.org/10.5909/JBE.2019.24.5.802

Tiny Drone Tracking with a Moving Camera  

Son, Sohee (Information of Departments, Hanbat National University)
Jeon, Jinwoo (ETRI)
Lee, Injae (ETRI)
Cha, Jihun (ETRI)
Choi, Haechul (Information of Departments, Hanbat National University)
Publication Information
Journal of Broadcast Engineering / v.24, no.5, 2019 , pp. 802-812 More about this Journal
Abstract
With the rapid development in the field of unmanned aerial vehicles(UAVs) and drones, higher request to development of a surveillance system for a drone is putting forward. Since surveillance systems with fixed cameras have a limited range, a development of surveillance systems with a moving camera applicable to PTZ(Pan-Tilt-Zoom) cameras is required. Selecting the features for object plays a critical role in tracking, and the object has to be represented by their shapes or appearances. Considering these conditions, in this paper, an object tracking method with optical flow is introduced to track a tiny drone with a moving camera. In addition, a tracking method combined with kalman filter is proposed to track continuously even when tracking is failed. Experiments are tested on sequences which have a target from the minimal 12 pixels to the maximal 56337 pixels, the proposed method achieves average precision of 175% improvement. Also, experimental results show the proposed method tracks a target which has a size of 12pixels.
Keywords
Object tracking; Optical flow; Kalman filter; UAV;
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