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首页> 外文期刊>International Journal of Control, Automation and Systems >Autonomous feature following for visual surveillance using a small unmanned aerial vehicle with gimbaled camera system
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Autonomous feature following for visual surveillance using a small unmanned aerial vehicle with gimbaled camera system

机译：带有跟踪装置的小型无人驾驶飞行器的视觉跟踪自主功能

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摘要

This paper represents the development of feature following control and distributed navigation algorithms for visual surveillance using a small unmanned aerial vehicle equipped with a low-cost imaging sensor unit. An efficient map-based feature generation and following control algorithm is developed to make an onboard imaging sensor to track a target. An efficient navigation system is also designed for real-time position and velocity estimates of the unmanned aircraft, which is used as inputs for the path following controller. The performance of the proposed autonomous path following capability with a stabilized gimbaled camera onboard a small unmanned aerial robot is demonstrated through flight tests with application to target tracking for real-time visual surveillance.
机译：本文介绍了使用装有低成本成像传感器单元的小型无人机进行视觉监视的特征跟踪控制和分布式导航算法的发展。开发了一种有效的基于地图的特征生成和跟踪控制算法，以使机载成像传感器能够跟踪目标。还设计了一种有效的导航系统，用于无人驾驶飞机的实时位置和速度估计，用作跟踪控制器的输入。通过飞行测试证明了拟议的自主路径跟随能力与小型无人驾驶航空机器人上的稳定万向摄像机的性能，并将其应用于目标跟踪以进行实时视觉监视。

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