Aerial robotic tracking of a generalized mobile target employing visual and spatio-temporal dynamic subject perception

Christos Papachristos, Dimos Tzoumanikas, Antonios Tzes

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Abstract

    This paper proposes a methodology for visual tracking of a dynamic generalized subject within an unknown map, by relying on its perception as a separate entity which can be distinguished spatially and visually from its environment. To this purpose, a 3D-representation of the visible scenery is examined, and the subject is spatially identified by its externally viewed hull via a mesh-connection algorithm aided by visual cues, and visually identified by distinct feature tracking based on an incrementally built list of key-aspects. These two processes operate in closed-loop, and employing a set of assumptions regarding the subject's structural/temporal invariance the tracking health state can be determined. This work additionally presents the framework for the deployment of this scheme for autonomous aerial robotic subject tracking, employing the dynamic subject/environment distinction to obtain knowledge of the environment structure, and collision-free trajectory generation algorithms to achieve mobile tracking.

    Original languageEnglish (US)
    Title of host publicationIROS Hamburg 2015 - Conference Digest
    Subtitle of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages4319-4324
    Number of pages6
    Volume2015-December
    ISBN (Electronic)9781479999941
    DOIs
    StatePublished - Dec 11 2015
    EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany
    Duration: Sep 28 2015Oct 2 2015

    Other

    OtherIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
    CountryGermany
    CityHamburg
    Period9/28/1510/2/15

    Fingerprint

    Robotics
    Antennas
    Invariance
    Trajectories
    Health

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Software
    • Computer Vision and Pattern Recognition
    • Computer Science Applications

    Cite this

    Papachristos, C., Tzoumanikas, D., & Tzes, A. (2015). Aerial robotic tracking of a generalized mobile target employing visual and spatio-temporal dynamic subject perception. In IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems (Vol. 2015-December, pp. 4319-4324). [7353989] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2015.7353989

    Aerial robotic tracking of a generalized mobile target employing visual and spatio-temporal dynamic subject perception. / Papachristos, Christos; Tzoumanikas, Dimos; Tzes, Antonios.

    IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2015-December Institute of Electrical and Electronics Engineers Inc., 2015. p. 4319-4324 7353989.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Papachristos, C, Tzoumanikas, D & Tzes, A 2015, Aerial robotic tracking of a generalized mobile target employing visual and spatio-temporal dynamic subject perception. in IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. vol. 2015-December, 7353989, Institute of Electrical and Electronics Engineers Inc., pp. 4319-4324, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, 9/28/15. https://doi.org/10.1109/IROS.2015.7353989
    Papachristos C, Tzoumanikas D, Tzes A. Aerial robotic tracking of a generalized mobile target employing visual and spatio-temporal dynamic subject perception. In IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2015-December. Institute of Electrical and Electronics Engineers Inc. 2015. p. 4319-4324. 7353989 https://doi.org/10.1109/IROS.2015.7353989
    Papachristos, Christos ; Tzoumanikas, Dimos ; Tzes, Antonios. / Aerial robotic tracking of a generalized mobile target employing visual and spatio-temporal dynamic subject perception. IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2015-December Institute of Electrical and Electronics Engineers Inc., 2015. pp. 4319-4324
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