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Real Time Implementation Of An Asynchronous Vision Based Target Tracking System In An Unmanned Aerial Vehicle
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Book Synopsis Real-time Implementation of an Asynchronous Vision-based Target Tracking System in an Unmanned Aerial Vehicle by :
Download or read book Real-time Implementation of an Asynchronous Vision-based Target Tracking System in an Unmanned Aerial Vehicle written by and published by . This book was released on 2007 with total page 141 pages. Available in PDF, EPUB and Kindle. Book excerpt: Currently, small unmanned aerial vehicles developed by NPS have been able to locate and track stationary and moving targets on the ground. New methods of continuous target tracking are always being developed to improve speed and accuracy, ultimately aiding the user of the system. This thesis describes one such method, utilizing an open loop filter as well as an external correction source: Perspective View Nascent Technologies (PVNT). While the PVNT correction can theoretically improve the accuracy from 20-30 meters to 1-2 meters, it does have a disadvantage in that the target position updates are delayed anywhere from 1-10 seconds. In order to account for the delay, an asynchronous filter is used to update the target position data given the external position correction from PVNT. Two cases have been tested including the general filter and one that utilizes a road model in the calculations. While an earlier thesis developed the basic simulation for the system, this thesis discusses improvements and corrections to the simulation model as well as the necessary steps for real-time implementation.
Book Synopsis Development and Implementation of New Control Law for Vision Based Target Tracking System Onboard Small Unmanned Aerial Vehicles by : Boon Chong Tay
Download or read book Development and Implementation of New Control Law for Vision Based Target Tracking System Onboard Small Unmanned Aerial Vehicles written by Boon Chong Tay and published by . This book was released on 2006 with total page 109 pages. Available in PDF, EPUB and Kindle. Book excerpt: A new control law is being developed and implemented for the Vision Based Target Tracking (VBTT) system onboard a small unmanned aerial vehicle (SUAV). The new control law allows for coordinated SUAV guidance and vision-based target tracking of stationary and moving targets in the presence of atmospheric disturbances and measurements noise. The new control law is tested for its performance and stability in both the theoretical 6DOF simulation and the Hardware-in-the-Loop (HIL) simulation. Principal results show that realistic measures of performance of the control law are continuous and exhibit predictable degradation of performance with increase of target speed. The results are encouraging and comparable among theoretical predictions, actual hardware simulation results, and initial flight testing. The control law development, implementation, and trial processes and procedures are also examined and categorically documented in this thesis as future reference on the subject development, as well as for better knowledge retention, continuation and proliferation of the VBTT system.
Book Synopsis UAV‐Based Remote Sensing Volume 2 by : Felipe Gonzalez Toro
Download or read book UAV‐Based Remote Sensing Volume 2 written by Felipe Gonzalez Toro and published by MDPI. This book was released on 2018-04-27 with total page 405 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is a printed edition of the Special Issue "UAV-Based Remote Sensing" that was published in Sensors
Book Synopsis Optimal Control and Coordination of Small UAVs for Vision-based Target Tracking by : Steven Andrew Provencio Quintero
Download or read book Optimal Control and Coordination of Small UAVs for Vision-based Target Tracking written by Steven Andrew Provencio Quintero and published by . This book was released on 2014 with total page 215 pages. Available in PDF, EPUB and Kindle. Book excerpt: Small unmanned aerial vehicles (UAVs) are relatively inexpensive mobile sensing platforms capable of reliably and autonomously performing numerous tasks, including mapping, search and rescue, surveillance and tracking, and real-time monitoring. The general problem of interest that we address is that of using small, fixed-wing UAVs to perform vision-based target tracking, which entails that one or more camera-equipped UAVs is responsible for autonomously tracking a moving ground target. In the single-UAV setting, the underactuated UAV must maintain proximity and visibility of an unpredictable ground target while having a limited sensing region. We provide solutions from two different vantage points. The first regards the problem as a two-player zero-sum game and the second as a stochastic optimal control problem. The resulting control policies have been successfully field-tested, thereby verifying the efficacy of both approaches while highlighting the advantages of one approach over the other.
Book Synopsis Vision Based Systemsfor UAV Applications by : Aleksander Nawrat
Download or read book Vision Based Systemsfor UAV Applications written by Aleksander Nawrat and published by Springer. This book was released on 2013-12-06 with total page 348 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph is motivated by a significant number of vision based algorithms for Unmanned Aerial Vehicles (UAV) that were developed during research and development projects. Vision information is utilized in various applications like visual surveillance, aim systems, recognition systems, collision-avoidance systems and navigation. This book presents practical applications, examples and recent challenges in these mentioned application fields. The aim of the book is to create a valuable source of information for researchers and constructors of solutions utilizing vision from UAV. Scientists, researchers and graduate students involved in computer vision, image processing, data fusion, control algorithms, mechanics, data mining, navigation and IC can find many valuable, useful and practical suggestions and solutions. The latest challenges for vision based systems are also presented.
Book Synopsis UAV‐Based Remote Sensing Volume 1 by : Felipe Gonzalez Toro
Download or read book UAV‐Based Remote Sensing Volume 1 written by Felipe Gonzalez Toro and published by MDPI. This book was released on 2018-04-27 with total page 397 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is a printed edition of the Special Issue "UAV-Based Remote Sensing" that was published in Sensors
Book Synopsis Hardware in the Loop Implementation of Adaptive Vision Based Guidance Law for Ground Target Tracking by : Mun Lok Bernard Soh
Download or read book Hardware in the Loop Implementation of Adaptive Vision Based Guidance Law for Ground Target Tracking written by Mun Lok Bernard Soh and published by . This book was released on 2008 with total page 91 pages. Available in PDF, EPUB and Kindle. Book excerpt: An adaptive guidance law of a Vision Based Target Tracking (VBTT) system was previously developed and implemented onboard a Small Unmanned Aerial Vehicle (SUAV) in order to track a ground target moving with a constant velocity. This work extends previous results by considering scenarios where the variation of target velocity, in both magnitude and direction, is used to excite the feedback control law for further robustness analysis. This provides essential insight on the sensitivity of the performance criteria indicated by the range holding capability, navigation error and the convergence speed of the guidance law. In addition, this thesis addresses the robustness of the SUAV guidance law to the generalized time delay in feedback due to, for example, data processing or communications lag. This thesis also extends the previously obtained results by introducing a multi-criteria optimization technique. The results obtained are first based on the numerical simulations implemented in SIMULINK and then in high fidelity HIL simulation environment with Piccolo Plus AP in the control loop. Initial steps in developing Vision Based HIL environment incorporating TASE gimbal, Piccolo Plus AP, Pan-Tilt unit and image processing software are presented. The work also includes motivation for the development, an overview of the existing technologies, and initial implementation of low-level driving mechanism (drivers) for the realistic representation of the real-world environment.
Book Synopsis Nonlinear Estimation for Vision-based Air-to-air Tracking by : Seung-Min Oh
Download or read book Nonlinear Estimation for Vision-based Air-to-air Tracking written by Seung-Min Oh and published by . This book was released on 2007 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned aerial vehicles (UAV's) have been the focus of significant research interest in both military and commercial areas since they have a variety of practical applications including reconnaissance, surveillance, target acquisition, search and rescue, patrolling, real-time monitoring, and mapping, to name a few. To increase the autonomy and the capability of these UAV's and thus to reduce the workload of human operators, typical autonomous UAV's are usually equipped with both a navigation system and a tracking system. The navigation system provides high-rate ownship states (typically ownship inertial position, inertial velocity, and attitude) that are directly used in the autopilot system, and the tracking system provides low-rate target tracking states (typically target relative position and velocity with respect to the ownship). Target states in the global frame can be obtained by adding the ownship states and the target tracking states. The data estimated from this combination of the navigation system and the tracking system provide key information for the design of most UAV guidance laws, control command generation, trajectory generation, and path planning.
Book Synopsis Real-time Implementations of Vision Algorithms for Control, Stabilization, and Target Tracking, for a Hovering Micro-UAV by : Beau J. Tippetts
Download or read book Real-time Implementations of Vision Algorithms for Control, Stabilization, and Target Tracking, for a Hovering Micro-UAV written by Beau J. Tippetts and published by . This book was released on 2008 with total page 71 pages. Available in PDF, EPUB and Kindle. Book excerpt: A lightweight, powerful, yet efficient quad-rotor platform was designed and constructed to obtain experimental results of completely autonomous control of a hovering micro-UAV using a complete on-board vision system. The on-board vision and control system is composed of a Helios FPGA board, an Autonomous Vehicle Toolkit daughterboard, and a Kestrel Autopilot. The resulting platform is referred to as the Helio-copter. An efficient algorithm to detect, correlate, and track features in a scene and estimate attitude information was implemented with a combination of hardware and software on the FPGA, and real-time performance was obtained. The algorithms implemented include a Harris feature detector, template matching feature correlator, RANSAC similarity-constrained homography, color segmentation, radial distortion correction, and an extended Kalman filter with a standard-deviation outlier rejection technique (SORT). This implementation was designed specifically for use as an on-board vision solution in determining movement of small unmanned air vehicles that have size, weight, and power limitations. Experimental results show the Helio-copter capable of maintaining level, stable flight within a 6 foot by 6 foot area for over 40 seconds without human intervention.
Book Synopsis Performance Analysis for a Vision-Based Target Tracking System of a Small Unmanned Aerial Vehicle by :
Download or read book Performance Analysis for a Vision-Based Target Tracking System of a Small Unmanned Aerial Vehicle written by and published by . This book was released on 2005 with total page 69 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis analyzes performance of the vision-based target-tracking system developed at the Naval Postgraduate School using the Monte Carlo method. Specifically, sensitivities of the target position estimation algorithm to various sensor errors are computed and analyzed. Furthermore, dependence of this algorithm on the performance of the target-tracking control system is established.
Book Synopsis Robustness of Control Laws Implemented in Visual Based Target Tracking System by : Han Chuan Lee
Download or read book Robustness of Control Laws Implemented in Visual Based Target Tracking System written by Han Chuan Lee and published by . This book was released on 2009 with total page 65 pages. Available in PDF, EPUB and Kindle. Book excerpt: The previously developed guidance law implemented onboard the Small Unmanned Aerial Vehicle (SUAV) relies exclusively on the information from the image processing software and allows the performance of coordinated SUAV guidance and vision-based target tracking and motion estimation. This enables "passive only" coordinated tracking of noncooperative targets. An analysis of the system performance shows that the developed target tracking law demonstrates poor range holding capability when the target performs evasive maneuvers. Therefore, a new guidance law has been formulated by resolving SUAV dynamics with respect to the moving target frame, as opposed to the inertial frame in previous formulation. This simple modification results in theoretically achievable perfect range holding capability for the price of requiring the target motion information to be known. As a result, this new modification is based on the assumption of known target states, which in turn requires an implementation of a target motion estimator. An obvious tradeoff in performance of the "passive only" and "estimator based" target tracking systems is investigated in this thesis under realistic conditions including target loss events. This work extends previous results by investigating the performance of both guidance laws to the variation in target velocity and frequency of tracking loss events. The results obtained are based on the high fidelity 6DOF simulation implemented in SIMULINK, and analyzed using the multi-criteria optimization methodology introduced in the previous work. The results show that both guidance laws suffer predictable degradation in performance when subject to the external disturbances and tracking loss events. However, in the absence of tracking loss events, the new guidance law suffers less degradation in performance as compared to the old guidance law. When "frequency" of tracking loss events is low (less than 12%), the new guidance law is still able to provide better performance than the old guidance law As the "frequency" of tracking loss events increases further (between 12% to 25%), the performance of the new guidance law starts rapidly degrading, converging to that of the initial system; the target estimator is no longer able to provide a good prediction of the target velocity and heading to the guidance law.
Book Synopsis Stereo Vision-based Target Tracking System for USV Operations by : Armando José Sinisterra
Download or read book Stereo Vision-based Target Tracking System for USV Operations written by Armando José Sinisterra and published by . This book was released on 2015 with total page 133 pages. Available in PDF, EPUB and Kindle. Book excerpt: A methodology to estimate the state of a moving marine vehicle, defined by its position, velocity and heading, from an unmanned surface vehicle (USV), also in motion, using a stereo vision-based system, is presented in this work, in support of following a target vehicle using an USV. The approach consists of defining a systematic process which encompasses stereo vision ranging, object detection and tracking, and tracking error minimization. These errors are mainly due to image quantization limitations and pixel miscorrespondences in the stereo pixel-matching process. While more sophisticated matching algorithms may lead to a better depth reconstruction of the scene, at a high computational cost, simple matching algorithms perform faster at the expense of larger errors in depth measurement. This method consists of combining a simple stereo matching algorithm, along with a predictive-corrective approach based on the implementation of an Extended vi Kalman Filter (EKF), using suitable choices of probabilistic models representing the motion of the target vehicle and the stereo measurements, in order to minimize the tracking errors related to the stereo measurements, and therefore, improve the accuracy of the state estimation of the vehicle. Results from simulations and a real-time implementation, reveal the effectiveness of the system to compute accurate estimations regarding the state of the target vehicle over non-compliant trajectories subjected to a variety of motion conditions.
Book Synopsis Incorporating Target Mensuration System for Target Motion Estimation Along a Road Using Asynchronous Filter by : Kwee Chye Yap
Download or read book Incorporating Target Mensuration System for Target Motion Estimation Along a Road Using Asynchronous Filter written by Kwee Chye Yap and published by . This book was released on 2006 with total page 59 pages. Available in PDF, EPUB and Kindle. Book excerpt: In support of TNT experiments, the NPS UAV laboratory has developed a Vision-Based Target Tracking (VBTT) system for a Small Unmanned Aerial Vehicle (SUAV). This system provides an autonomous target tracking capability, while simultaneously estimating the target's velocity and position. The accuracy of the existing system can be improved by providing external corrections to the target position estimation from the geo-rectification system (GIS). This thesis addresses the implementation of an asynchronous correction scheme into the target position estimation filter. The current autonomous position estimation algorithm provides 20-30 meters accuracy. The external correction system (Perspective View Nascent Technologies (PVNT)) is expected to provide target position accuracy of 1-2 m. However, a delay of up to 10 seconds is expected. Therefore, in order to improve the accuracy of current estimation of target motion, a new asynchronous correction technique that incorporates the more accurate PVNT data is proposed. To further improve the target motion estimation, it was also proposed to incorporate a known road model into the filter and compare its performance with the original filter.
Book Synopsis Dynamic Modeling and Vision-Based Mobile-Target Tracking in UAVs Using Wide FOV Cameras by : Mohsen Majnoon
Download or read book Dynamic Modeling and Vision-Based Mobile-Target Tracking in UAVs Using Wide FOV Cameras written by Mohsen Majnoon and published by . This book was released on 2016 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Control of unmanned aerial vehicles is a very active topic in research with lots of applications ranging from civilian to military. To control a UAV, its attitude is often controlled using gyroscopes, but to control its position, inertial sensors together with GPS are often used. However, obtaining accurate current position is difficult using inertial sensors because of the integration drift. GPS on the other hand is not functional in indoor applications since it cannot connect to GPS satellites. Since vision has been proved to be an inexpensive and consistent source of relative position information, vision-based control is getting more popular in UAVs recently, but then again, using vision in outdoor applications is challenging as the target can move fast and out of the vision sensor field of view. So, in order to keep the target inside the field of view, two algorithms are being developed and tested via simulation in this research. Using pan/tilt/zoom cameras or multi camera systems, the target is guaranteed to stay in vision system field of view and hence, the vision based pose estimation can provide the control system with proper relative position. Two case studies - vision-based mobile-target tracking of a quadrotor using a multi-camera vision sensor and vision-based mobile-target tracking of a tilting rotor aircraft equipped with a zooming camera - are presented in this research to show the applicability of these methods in UAV control.
Book Synopsis Vision-based Following of Structures Using an Unmanned Aerial Vehicle (UAV) by : Sivakumar Rathinam
Download or read book Vision-based Following of Structures Using an Unmanned Aerial Vehicle (UAV) written by Sivakumar Rathinam and published by . This book was released on 2006 with total page 24 pages. Available in PDF, EPUB and Kindle. Book excerpt: Inspecting and monitoring oil-gas pipelines, roads, bridges, canals are very important in ensuring the reliability and life expectancy of these civil systems. An autonomous Unmanned Aerial Vehicle (UAV) can decrease the operational costs, expedite the monitoring process and be used in situations where a manned inspection is not possible. This paper addresses the problem of monitoring these systems using an autonomous UAV based on visual feedback. A single structure detection algorithm that can identify and localize various structures including highways, roads, and canals is presented in the paper. A fast learning algorithm that requires minimal supervision is applied to obtain detection parameters. The real time detection algorithm runs at 5 Hz or more with the onboard video collected by the UAV. Both hard ware in the loop and flight results of the vision based control algorithm are presented in this paper. An UAV equipped with a camera onboard was able to track a 700 meter canal based on vision several times with a average cross track error of around 10 meters.
Book Synopsis Vision Based Control and Target Range Estimation for Small Unmanned Aerial Vehicle by :
Download or read book Vision Based Control and Target Range Estimation for Small Unmanned Aerial Vehicle written by and published by . This book was released on 2005 with total page 41 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the tracking of a moving ground target by small unmanned air vehicle (UAV) via camera vision, the target position and motion cannot be measured directly. Two different types of filters were assessed for their ability to estimate target motion, namely target velocity, directional heading on flat ground and distance from the UAV to target. The first filter is a nonlinear deterministic filter with stability guarantee. The second filter is based on nonlinear Kalman Filter technique. The application and performance of these two filters are presented, for simulated vision based target tracking.
Book Synopsis Particle Filter-based Architecture for Video Target Tracking and Geo-location Using Multiple UAVs by : Christopher Sconyers
Download or read book Particle Filter-based Architecture for Video Target Tracking and Geo-location Using Multiple UAVs written by Christopher Sconyers and published by . This book was released on 2013 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Research in the areas of target detection, tracking, and geo-location is most important for enabling an unmanned aerial vehicle (UAV) platform to autonomously execute a mission or task without the need for a pilot or operator. Small-class UAVs and video camera sensors complemented with "soft sensors" realized only in software as a combination of a priori knowledge and sensor measurements are called upon to replace the cumbersome precision sensors on-board a large class UAV. The objective of this research is to develop a geo-location solution for use on-board multiple UAVs with mounted video camera sensors only to accurately geo-locate and track a target. This research introduces an estimation solution that combines the power of the particle filter with the utility of the video sensor as a general solution for passive target geo-location on-board multiple UAVs. The particle filter is taken advantage of, with its ability to use all of the available information about the system model, system uncertainty, and the sensor uncertainty to approximate the statistical likelihood of the target state. The geo-location particle filter is tested online and in real-time in a simulation environment involving multiple UAVs with video cameras and a maneuvering ground vehicle as a target. Simulation results show the geo-location particle filter estimates the target location with a high accuracy, the addition of UAVs or particles to the system improves the location estimation accuracy with minimal addition of processing time, and UAV control and trajectory generation algorithms restrict each UAV to a desired range to minimize error.
