KCF based 3D object tracking via RGB-D camera of a quadrotor

Yue Ma; Peng Pei; Changle Xiang; Shouwen Yao; Yang Gao

doi:10.1109/ICUAS.2017.7991411

KCF based 3D object tracking via RGB-D camera of a quadrotor

Yue Ma, Peng Pei, Changle Xiang, Shouwen Yao, Yang Gao

School of Mechanical Engineering

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Citations (Scopus)

Abstract

A real-time vision-based object tracking system embedded in a quadrotor is presented in this paper. The integrated system is expected to enable the quadrotor to track a target object and keep with a fixed distance. A robust object tracking method via improving Kernelized Correlation Filters algorithm is proposed to achieve accurate visual tracking. In addition, a PID controller is applied to utilize the data from a RGB-D Camera. And the effectiveness of our proposed method is verified by experimental results.

Original language	English
Title of host publication	2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	939-944
Number of pages	6
ISBN (Electronic)	9781509044948
DOIs	https://doi.org/10.1109/ICUAS.2017.7991411
Publication status	Published - 25 Jul 2017
Event	2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017 - Miami, United States Duration: 13 Jun 2017 → 16 Jun 2017

Publication series

Name	2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017

Conference

Conference	2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017
Country/Territory	United States
City	Miami
Period	13/06/17 → 16/06/17

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10.1109/ICUAS.2017.7991411

Cite this

Ma, Y., Pei, P., Xiang, C., Yao, S., & Gao, Y. (2017). KCF based 3D object tracking via RGB-D camera of a quadrotor. In 2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017 (pp. 939-944). Article 7991411 (2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICUAS.2017.7991411

@inproceedings{23d693b2173a49c9a194fd70e719950b,

title = "KCF based 3D object tracking via RGB-D camera of a quadrotor",

abstract = "A real-time vision-based object tracking system embedded in a quadrotor is presented in this paper. The integrated system is expected to enable the quadrotor to track a target object and keep with a fixed distance. A robust object tracking method via improving Kernelized Correlation Filters algorithm is proposed to achieve accurate visual tracking. In addition, a PID controller is applied to utilize the data from a RGB-D Camera. And the effectiveness of our proposed method is verified by experimental results.",

author = "Yue Ma and Peng Pei and Changle Xiang and Shouwen Yao and Yang Gao",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017 ; Conference date: 13-06-2017 Through 16-06-2017",

year = "2017",

month = jul,

day = "25",

doi = "10.1109/ICUAS.2017.7991411",

language = "English",

series = "2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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booktitle = "2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017",

address = "United States",

}

Ma, Y, Pei, P, Xiang, C, Yao, S & Gao, Y 2017, KCF based 3D object tracking via RGB-D camera of a quadrotor. in 2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017., 7991411, 2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017, Institute of Electrical and Electronics Engineers Inc., pp. 939-944, 2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017, Miami, United States, 13/06/17. https://doi.org/10.1109/ICUAS.2017.7991411

KCF based 3D object tracking via RGB-D camera of a quadrotor. / Ma, Yue; Pei, Peng; Xiang, Changle et al.
2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 939-944 7991411 (2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Yao, Shouwen

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PY - 2017/7/25

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N2 - A real-time vision-based object tracking system embedded in a quadrotor is presented in this paper. The integrated system is expected to enable the quadrotor to track a target object and keep with a fixed distance. A robust object tracking method via improving Kernelized Correlation Filters algorithm is proposed to achieve accurate visual tracking. In addition, a PID controller is applied to utilize the data from a RGB-D Camera. And the effectiveness of our proposed method is verified by experimental results.

AB - A real-time vision-based object tracking system embedded in a quadrotor is presented in this paper. The integrated system is expected to enable the quadrotor to track a target object and keep with a fixed distance. A robust object tracking method via improving Kernelized Correlation Filters algorithm is proposed to achieve accurate visual tracking. In addition, a PID controller is applied to utilize the data from a RGB-D Camera. And the effectiveness of our proposed method is verified by experimental results.

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M3 - Conference contribution

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PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017

Y2 - 13 June 2017 through 16 June 2017

ER -

KCF based 3D object tracking via RGB-D camera of a quadrotor

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