Camera-Based Local and Global Target Detection, Tracking, and Localization Techniques for UAVs

被引:6
作者
Daramouskas, Ioannis [1 ,2 ]
Meimetis, Dimitrios [1 ]
Patrinopoulou, Niki [1 ]
Lappas, Vaios [3 ]
Kostopoulos, Vassilios [1 ]
Kapoulas, Vaggelis [2 ]
机构
[1] Univ Patras, Appl Mech Lab, Patras 26504, Greece
[2] Comp Technol Inst & Press Diophantus, N Kazantzaki Str Univ Campus, Patras 26504, Greece
[3] Natl Kapodistrian Univ Athens, Dept Aerosp Sci & Technol, Athens 10563, Greece
关键词
YOLO; multi-object detection; target tracking; target localization; UAV; computer vision; deep SORT; SORT;
D O I
10.3390/machines11020315
中图分类号
TM [电工技术]; TN [电子技术、通信技术];
学科分类号
0808 ; 0809 ;
摘要
Multiple-object detection, localization, and tracking are desirable in many areas and applications, as the field of deep learning has developed and has drawn the attention of academics in computer vision, having a plethora of networks now achieving excellent accuracy in detecting multiple objects in an image. Tracking and localizing objects still remain difficult processes which require significant effort. This work describes an optical camera-based target detection, tracking, and localization solution for Unmanned Aerial Vehicles (UAVs). Based on the well-known network YOLOv4, a custom object detection model was developed and its performance was compared to YOLOv4-Tiny, YOLOv4-608, and YOLOv7-Tiny. The target tracking algorithm we use is based on Deep SORT, providing cutting-edge tracking. The proposed localization approach can accurately determine the position of ground targets identified by the custom object detection model. Moreover, an implementation of a global tracker using localization information from up to four UAV cameras at a time. Finally, a guiding approach is described, which is responsible for providing real-time movement commands for the UAV to follow and cover a designated target. The complete system was evaluated in Gazebo with up to four UAVs utilizing Software-In-The-Loop (SITL) simulation.
引用
收藏
页数:27
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