TY - GEN
T1 - Airborne Visual Tracking of UAVs with a Pan-Tilt-Zoom Camera
AU - Tsoukalas, Athanasios
AU - Evangeliou, Nikolaos
AU - Giakoumidis, Nikolaos
AU - Tzes, Anthony
N1 - Publisher Copyright:
Copyright © 2020 by SCITEPRESS-Science and Technology Publications, Lda. All rights reserved.
PY - 2020
Y1 - 2020
N2 - The visual detection and tracking of UAVs using a Pan-Tilt-Zoom (PTZ) camera attached to another aerial platform is the scope of this article. The long-term tracker is performing image background subtraction using visual homography and is used to initialize a short term tracker that works in parallel to enhance the tracking for various motions. The moving UAV is detected using optical flow concepts and its bounding box encapsulates its detected features. A Kalman predictor provides a robust smooth tracking of the bounding box in the temporary absence of a detected UAV. The camera pans and tilts so as the tracked UAV is centered within its Field-of-View and zooms in order to expand the UAV's view. Experimental results are offered using an evader-tracker UAV-group to validate the presented tracking algorithm.
AB - The visual detection and tracking of UAVs using a Pan-Tilt-Zoom (PTZ) camera attached to another aerial platform is the scope of this article. The long-term tracker is performing image background subtraction using visual homography and is used to initialize a short term tracker that works in parallel to enhance the tracking for various motions. The moving UAV is detected using optical flow concepts and its bounding box encapsulates its detected features. A Kalman predictor provides a robust smooth tracking of the bounding box in the temporary absence of a detected UAV. The camera pans and tilts so as the tracked UAV is centered within its Field-of-View and zooms in order to expand the UAV's view. Experimental results are offered using an evader-tracker UAV-group to validate the presented tracking algorithm.
KW - Optical flow
KW - Variable object tracking
KW - Visual homography
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M3 - Conference contribution
AN - SCOPUS:85108074260
T3 - ROBOVIS 2020 - Proceedings of the International Conference on Robotics, Computer Vision and Intelligent Systems
SP - 90
EP - 97
BT - ROBOVIS 2020 - Proceedings of the International Conference on Robotics, Computer Vision and Intelligent Systems
A2 - Galambos, Peter
A2 - Madani, Kurosh
PB - SciTePress
T2 - 2020 International Conference on Robotics, Computer Vision and Intelligent Systems, ROBOVIS 2020
Y2 - 4 November 2020 through 6 November 2020
ER -