Vision-Based Guidance for Tracking Dynamic Objects

Autor:	Karmokar, Pritam, Dhal, Kashish, Beksi, William J., Chakravarthy, Animesh
Rok vydání:	2021
Předmět:	Computer Science - Computer Vision and Pattern Recognition Computer Science - Robotics
Druh dokumentu:	Working Paper
Popis:	In this paper, we present a novel vision-based framework for tracking dynamic objects using guidance laws based on a rendezvous cone approach. These guidance laws enable an unmanned aircraft system equipped with a monocular camera to continuously follow a moving object within the sensor's field of view. We identify and classify feature point estimators for managing the occurrence of occlusions during the tracking process in an exclusive manner. Furthermore, we develop an open-source simulation environment and perform a series of simulations to show the efficacy of our methods. Comment: To be published in the 2021 International Conference on Unmanned Aircraft Systems (ICUAS)
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2104.09301 Zobrazit plný text záznamu View this record from Arxiv