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http://dx.doi.org/10.5139/JKSAS.2010.38.5.490

Tracking of ground objects using image information for autonomous rotary unmanned aerial vehicles  

Kang, Tae-Hwa (KAIST 항공우주공학과 대학원)
Baek, Kwang-Yul (KAIST 항공우주공학과 대학원)
Mok, Sung-Hoon (KAIST 항공우주공학과 대학원)
Lee, Won-Suk (KAIST 항공우주공학과 대학원)
Lee, Dong-Jin (KAIST 항공우주공학과 대학원)
Lim, Seung-Han (KAIST 항공우주공학과 대학원)
Bang, Hyo-Choong (KAIST 항공우주공학과)
Publication Information
Journal of the Korean Society for Aeronautical & Space Sciences / v.38, no.5, 2010 , pp. 490-498 More about this Journal
Abstract
This paper presents an autonomous target tracking approach and technique for transmitting ground control station image periodically for an unmanned aerial vehicle using onboard gimbaled(pan-tilt) camera system. The miniature rotary UAV which was used in this study has a small, high-performance camera, improved target acquisition technique, and autonomous target tracking algorithm. Also in order to stabilize real-time image sequences, image stabilization algorithm was adopted. Finally the target tracking performance was verified through a real flight test.
Keywords
Miniature rotary UAV; Gimbaled camera system; Histogram back-projection; CAMShift; Target pointing; Image stabilization;
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