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Journal of Aerospace Science and Technology، جلد ۱۵، شماره ۱، صفحات ۶۳-۷۲
عنوان فارسی Development of Vision-Based Human Tracking for Drone’s Gimbal
چکیده فارسی مقاله The use of Unmanned Aerial Vehicles (UAVs) with different features and for a variety of applications has grown significantly. Tracking generic targets, especially human, using the UAV's camera is one of the most active and demanding fields in this area. In this paper we implement two vision-based tracking algorithms to track a human by using a 2D gimbal which can be mounted on UAVs. To ensure smooth movements and reduce the effect of common jumps on the trackers output, the gimbal motion control system is equipped with a Kalman filter followed by a proportional-derivative (PD) controller. Various experimental tests have been designed and implemented to track a human. The evaluation results show success in tracking the high speed movements with one of the algorithms and high accuracy in tracking the challenging movements in the other algorithm. Also in both methods, the tracking computation time is short enough and suitable for real-time implementation. The favorable performance of both algorithms indicate the ability of designed system to be implemented on the UAVs for practical applications.
کلیدواژه‌های فارسی مقاله
عنوان انگلیسی Development of Vision-Based Human Tracking for Drone’s Gimbal
چکیده انگلیسی مقاله The use of Unmanned Aerial Vehicles (UAVs) with different features and for a variety of applications has grown significantly. Tracking generic targets, especially human, using the UAV's camera is one of the most active and demanding fields in this area. In this paper we implement two vision-based tracking algorithms to track a human by using a 2D gimbal which can be mounted on UAVs. To ensure smooth movements and reduce the effect of common jumps on the trackers output, the gimbal motion control system is equipped with a Kalman filter followed by a proportional-derivative (PD) controller. Various experimental tests have been designed and implemented to track a human. The evaluation results show success in tracking the high speed movements with one of the algorithms and high accuracy in tracking the challenging movements in the other algorithm. Also in both methods, the tracking computation time is short enough and suitable for real-time implementation. The favorable performance of both algorithms indicate the ability of designed system to be implemented on the UAVs for practical applications.
کلیدواژه‌های انگلیسی مقاله Vision-based Human Tracking,2D Gimbal,Visual Servoing,Unmanned aerial vehicles,Kalman Filter
نویسندگان مقاله Mohammad Hossein Bayat |
Faculty of New Sciences and Technologies

Mohammad Shahbazi |
Manufacturing engineering, School of Mechanical engineering, Iran University of Science and Technology

Bahram Tarvirdizadeh |
Faculty of New Sciences and Technologies

نشانی اینترنتی https://jast.ias.ir/article_143637_b17ae55f5c5bd0a8a2f40078f1139a74.pdf
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