A mean-shift algorithm based autonomous visual tracking for micro aerial vehicles

Narsimlu Kemsaram, T.V. Rajini Kanth, Devendra Rao Guntupalli

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Abstract

The main objective is to track the Ground Moving Target continuously with Mean-Shift Visual Tracking Algorithm from On-board Autonomous Visual Tracking System. On-board Autonomous Visual Tracking System contains Gimbaled Camera, Inertial Navigation System / Global Positioning System, Image Tracking Software, Micro Aerial Vehicle Guidance Law, Camera Control Law and Autopilot. A Mean-Shift Algorithm is incorporated in the Image Tracking Software. This Algorithm identifies and tracks the Ground Moving Target based on its 2D colour space histogram. A Graphical User Interface based tool was developed for simulation and test the Autonomous Visual Tracking with Mean-Shift Algorithm performance using MATLAB. The experimental results exhibits that the Mean-Shift Algorithm identifies and tracks the GMT very accurately
Original languageEnglish
Pages (from-to)362-369
Number of pages12
JournalInternational Journal of Recent Trends in Engineering & Research
Volume2
Issue number4
Publication statusPublished - Apr 2016
Externally publishedYes

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