TY - GEN
T1 - Aerial robotic tracking of a generalized mobile target employing visual and spatio-temporal dynamic subject perception
AU - Papachristos, Christos
AU - Tzoumanikas, Dimos
AU - Tzes, Anthony
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/12/11
Y1 - 2015/12/11
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84952712807&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84952712807&partnerID=8YFLogxK
U2 - 10.1109/IROS.2015.7353989
DO - 10.1109/IROS.2015.7353989
M3 - Conference contribution
AN - SCOPUS:84952712807
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4319
EP - 4324
BT - IROS Hamburg 2015 - Conference Digest
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
Y2 - 28 September 2015 through 2 October 2015
ER -