A mean-shift algorithm based autonomous visual tracking for micro aerial vehicles
Narsimlu Kemsaram, T. V. Rajinikanth, Devendra Rao Guntupalli · Open Repository and Bibliography (University of Luxembourg) · 2016
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