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|Title:||Robust vision-based target tracking control system for an unmanned helicopter using feature fusion|
|Authors:||Lin, F. |
|Citation:||Lin, F.,Chen, B.M.,Lee, T.H. (2009). Robust vision-based target tracking control system for an unmanned helicopter using feature fusion. Proceedings of the 11th IAPR Conference on Machine Vision Applications, MVA 2009 : 398-401. ScholarBank@NUS Repository.|
|Abstract:||We present in this paper a robust vision-based tracking control system for an unmanned helicopter to track a moving ground target. It integrates a real-time vision-based target detection algorithm with a tracking control law in a closed loop. First, the proposed target detection algorithm extracts geometry, color and motion features from captured images. Based on these features, a finite-state machine is then introduced to dynamically coordinates the work of decision making under the Bayes framework, and a tracking control law is designed to minimize a certain tracking error function. Experimental results obtained from actual flight tests are also presented and demonstrate the effectiveness and robustness of our vision-based tracking control system in real scenes.|
|Source Title:||Proceedings of the 11th IAPR Conference on Machine Vision Applications, MVA 2009|
|Appears in Collections:||Staff Publications|
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