動的物体追跡のための視覚ベース誘導
Vision-Based Guidance for Tracking Dynamic Objects
単眼カメラを搭載した無人航空機が、ランデブーコーン法に基づく誘導則で動く物体を視野内に追従し続ける枠組みを提案し、遮蔽時の特徴点推定器の分類とシミュレーションで有効性を示した論文。
著者: Pritam Karmokar, Kashish Dhal, William J. Beksi, Animesh Chakravarthy
分類: cs.CV, cs.RO
原文アブストラクト
In this paper, we present a novel vision-based framework for tracking dynamic objects using guidance laws based on a rendezvous cone approach. These guidance laws enable an unmanned aircraft system equipped with a monocular camera to continuously follow a moving object within the sensor's field of view. We identify and classify feature point estimators for managing the occurrence of occlusions during the tracking process in an exclusive manner. Furthermore, we develop an open-source simulation environment and perform a series of simulations to show the efficacy of our methods.
