Computer Vision, Estimation, Kalman Filtering, Unmanned Aircraft Systems, Robotics
A real-time visual multiple target tracker is demonstrated onboard a descending multirotor. Measurements of moving ground targets are generated using the Kanade-Lucas-Tomasi (KLT) tracking method. Homography-based image registration is used to align the measurements into the same coordinate frame, allowing for the detection of independently moving objects. The recently developed Recursive-RANSAC algorithm uses the visual measurements to estimate targets in clutter. Altitude-dependent tuning increases track continuity and coverage during the descent of the vehicle. The algorithm requires no operator interaction and increases the situation awareness of the unmanned aerial system. Real-time tracking efficiency is analyzed on GPUs and CPUs. Tracking results are presented and discussed using the MOTA and MOTP metrics.
BYU ScholarsArchive Citation
Lusk, Parker C. and Beard, Randal, "Visual Multiple Target Tracking From a Descending Aerial Platform" (2017). Student Publications. 218.
Ira A. Fulton College of Engineering and Technology
Electrical and Computer Engineering
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