Vision based ground object tracking using AR.Drone quadrotor
Chi-Tinh Dang, Hoang-The Pham, Thanh-Binh Pham, Nguyen-Vu Truong · 2013
This paper presents an approach to the ground object tracking problem of the low cost AR.Drone quadrotor via its integrated vision systems. It consists of three major components: (1) on-board vision based object detection and localization, (2) comprehensive empirical models of X-Y coordinate motion of the quad rotor and (3) closed-loop PD controllers on the ground station to generate steering commands via Wifi connection. The developed platform has been extensively validated in various testing environments, demonstrating its effectiveness.