Real-time accurate pedestrian circular tracking with UAV
Tao Zhong, Zhen Yang, Tao Zhang, Huilin Xiong · 2017
In this paper, we present a solution for accurate pedestrian circular flight using an UAV (unmanned aerial vehicle), which means UAV flies circularly around a specified walking pedestrian with a fixed distance. The proposed method consists of two parts, one is the visual inspect of the pedestrian, the other is the vision guided UAV control. In the first part, we generate and update feature queues and use Locality-constrained Linear Coding (LLC) method to match the specified target. In the second part, we control the UAV's flight based on the visual detection of the specific target, aiming to let the UAV flying circularly around the target. Experiments adopting a Parrot Bebop 2 (UAV) are carried out to verify the effectiveness of the proposed method.