An intelligent visual line tracking system via quadrotor platform

This paper proposes a scheme using open source autopilot controller and on-board computer (i.e. Raspberry Pi 2) to realize vision tracking flight mission based on computer vision. System structure design, image processing and controller are introduced respectively. The proposed image processing algorithm can reduce computational work and also the well designed controller can realize line tracking. Experiment result based on DJI F450 quadrotor is provided to demonstrate the effectiveness of the proposed scheme.