Vision-Based Trajectory Tracking on the 3D Virtual Space for a Quadrotor

  title={Vision-Based Trajectory Tracking on the 3D Virtual Space for a Quadrotor},
  author={Francisco Jurado and Guillermo Palacios and Francisco Geu Flores},
  journal={2012 IEEE Ninth Electronics, Robotics and Automotive Mechanics Conference},
  • F. Jurado, G. Palacios, F. Flores
  • Published 19 November 2012
  • Computer Science
  • 2012 IEEE Ninth Electronics, Robotics and Automotive Mechanics Conference
In this paper, we propose a vision-based system for real-time 3D trajectory tracking. The vision system is implemented using the KINECT sensor (color and depth cameras). Image processing is performed using freeware and open source software. The image processing recovers the 3D position vector for the centroid of the target to track. We define a target object to track in a 3D space in order to emulate, on a virtual reality environment, a quad rotor which describes the trajectory traced on the 3D… 
1 Citations

Figures from this paper

A real-time color-based object tracking and occlusion handling using ARM cortex-A7
This work has proposed a robust Color-based algorithm to track the object and handle occlusion in real time domain and results showed run time performance, efficiency and accuracy inreal time environment.


Real-time 3-D object tracking using Kinect sensor
  • Takayuki Nakamura
  • Computer Science
    2011 IEEE International Conference on Robotics and Biomimetics
  • 2011
A novel method for real-time three-dimensional (3-D) object tracking based on integration of 3-D range and color information is proposed which utilizes the Microsoft Kinect sensor which is composed of depth and color cameras.
Real-time tracking of non-rigid objects using mean shift
The theoretical analysis of the approach shows that it relates to the Bayesian framework while providing a practical, fast and efficient solution for real time tracking of non-rigid objects seen from a moving camera.
Altitude control of a quadrotor helicopter using depth map from Microsoft Kinect sensor
Reliable depth estimation is a cornerstone of many autonomous robotic control systems. The Microsoft Kinect is a new, low cost, commodity game controller peripheral that calculates a depth map of the
Real time face and object tracking as a component of a perceptual user interface
  • G. Bradski
  • Computer Science
    Proceedings Fourth IEEE Workshop on Applications of Computer Vision. WACV'98 (Cat. No.98EX201)
  • 1998
An efficient, new algorithm is described here based on the mean shift algorithm, which robustly finds the mode (peak) of probability distributions within a video scene and is used as an interface for games and graphics.
Accurate and Practical Calibration of a Depth and Color Camera Pair
We present an algorithm that simultaneously calibrates a color camera, a depth camera, and the relative pose between them. The method is designed to have three key features that no other available
Exact linearization and noninteracting control of a 4 rotors helicopter via dynamic feedback
  • V. Mistler, A. Benallegue, N. M'Sirdi
  • Engineering
    Proceedings 10th IEEE International Workshop on Robot and Human Interactive Communication. ROMAN 2001 (Cat. No.01TH8591)
  • 2001
It is shown that the input-output decoupling problem is not solvable for this model by means of a static state feedback control law and a dynamic feedback controller is developed which renders the closed-loop system linear, controllable and noninteractive after a change of coordinates in the state-space.
Robust background subtraction in HSV color space
The experimental results show that the proposed background subtraction method can automatically segment video objects robustly and accurately in various illuminating environments.
Airship dynamic modeling for autonomous operation
  • S. Gomes, J. Ramos
  • Engineering
    Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)
  • 1998
The present work provides a starting point for robotics and control researchers interested in utilizing airships as robotic aerial vehicles in a form suited for controller design and computer simulation.
Hacking the Kinect
Hacking the Kinect introduces you to programming for the Kinect, a low-cost sensor that can detect and track body movement in three-dimensional space, and leads you progressively from making your very first connection to the Kinect through mastery of its full feature set.
Image Analysis and Mathematical Morphology
This invaluable reference helps readers assess and simplify problems and their essential requirements and complexities, giving them all the necessary data and methodology to master current theoretical developments and applications, as well as create new ones.