Aerial robotic tracking of a generalized mobile target employing visual and spatio-temporal dynamic subject perception

Christos Papachristos, Dimos Tzoumanikas, Anthony Tzes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper proposes a methodology for visual tracking of a dynamic generalized subject within an unknown map, by relying on its perception as a separate entity which can be distinguished spatially and visually from its environment. To this purpose, a 3D-representation of the visible scenery is examined, and the subject is spatially identified by its externally viewed hull via a mesh-connection algorithm aided by visual cues, and visually identified by distinct feature tracking based on an incrementally built list of key-aspects. These two processes operate in closed-loop, and employing a set of assumptions regarding the subject's structural/temporal invariance the tracking health state can be determined. This work additionally presents the framework for the deployment of this scheme for autonomous aerial robotic subject tracking, employing the dynamic subject/environment distinction to obtain knowledge of the environment structure, and collision-free trajectory generation algorithms to achieve mobile tracking.

Original languageEnglish (US)
Title of host publicationIROS Hamburg 2015 - Conference Digest
Subtitle of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4319-4324
Number of pages6
ISBN (Electronic)9781479999941
DOIs
StatePublished - Dec 11 2015
EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany
Duration: Sep 28 2015Oct 2 2015

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2015-December
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

OtherIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
CountryGermany
CityHamburg
Period9/28/1510/2/15

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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