Tablet PC-based Visual Target-Following System for Quadrotors

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This paper proposes a vision-based, closed-loop target-following system for quadrotors. The system consists of a vision-based target detection algorithm that uses the color and image moment of a given target. Flight control commands are directly generated based on the offset of the target from the image frame center. The image processing and control algorithms have been implemented on a latest tablet computer, which is capable of running those algorithms in real time. The proposed system was demonstrated using a commercially available quadrotor platform equipped with a forward-facing camera. Experiments and their analyses showed satisfactory target following performance.
Publisher
SPRINGER
Issue Date
2014-04
Language
English
Article Type
Article
Keywords

Quadrotor; Tablet PC; Target following

Citation

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, v.74, no.1-2, pp.85 - 95

ISSN
0921-0296
DOI
10.1007/s10846-013-9952-1
URI
http://hdl.handle.net/10203/187332
Appears in Collection
EE-Journal Papers(저널논문)IE-Journal Papers(저널논문)
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