Abstract
This paper proposes a vision-based, closed-loop target-following system for quadrotors. The system consists of a vision-based target detection algorithm that uses the color and image moment of a given target. Flight control commands are directly generated based on the offset of the target from the image frame center. The image processing and control algorithms have been implemented on a latest tablet computer, which is capable of running those algorithms in real time. The proposed system was demonstrated using a commercially available quadrotor platform equipped with a forward-facing camera. Experiments and their analyses showed satisfactory target following performance.
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This work was supported by National Research Foundation of Korea (NRF) grant funded by the Korean government (Ministry of Science, ICT & Future Planning) (No. 20110015377 & No. 2012033464).
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Kim, J., Shim, D.H. & Morrison, J.R. Tablet PC-based Visual Target-Following System for Quadrotors. J Intell Robot Syst 74, 85–95 (2014). https://doi.org/10.1007/s10846-013-9952-1
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DOI: https://doi.org/10.1007/s10846-013-9952-1