| 題名: | Vision-Based Tracking and Position Estimation of Moving Targets for Unmanned Helicopter Systems |
| 作者: | Lin, Chien-Hong;Hsiao, Fu-Yuen;Hsiao, Fei-Bin |
| 關鍵詞: | Target tracking and position estimation;image processing;Kalman filtering;unmanned helicopter |
| 日期: | 2013-01-04 |
| 上傳時間: | 2016-01-06 11:00:22 (UTC+8) |
| 摘要: | The primary goal of this study is to track a ground-moving target using a machine-vision system installed on an unmanned helicopter, and to estimate its position if the target becomes unobservable. The machine-vision system is accomplished using real-time color images obtained from a charge-coupled device (CCD) camera mounted on a computer-controlled gimbaled system that can pitch and yaw. To avoid real-time image-tracking failure resulting from a moving target becoming concealed, the Kalman filtering technique is applied to predict the target's follow-on position, so that the camera can continuously track the target. The entire system is initially tested on the ground and then mounted on a helicopter for in-flight testing. The following three cases are shown in the flight tests: (1) an uncovered static target; (2) a moving visible target; and (3) a target that moves in a straight line at a constant speed and becomes temporarily concealed. The vision-based tracking system with the developed algorithm is successfully applied in all three cases. |
| 關聯: | Asian Journal of Control 15(5), p.1270–1283 |
| DOI: | 10.1002/asjc.654 |
| 顯示於類別: | [航空太空工程學系暨研究所] 期刊論文
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