Tablet PC-based visual target-following system for quadrotors

Jeongwoon Kim, David Hyunchul Shim, James R. Morrison

Research output: Contribution to journalArticlepeer-review

9 Scopus citations

Abstract

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.

Original languageEnglish
Pages (from-to)85-95
Number of pages11
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Volume74
Issue number1-2
DOIs
StatePublished - Apr 2014

Keywords

  • Quadrotor
  • Tablet PC
  • Target following

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