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Visual tracking and servoing system design for circling a target of an air vehicle simulated in virtual reality

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4 Author(s)
Cheng-Ming Huang ; Dept. of Electr. Eng., National Taiwan Univ., Taipei, Taiwan ; Jean, J.-H. ; Yu-Shan Cheng ; Li-Chen Fu

This paper presents the development of a visual tracking and visual servo system for a reconnoitering air vehicle. The air vehicle is mounted with a camera platform underneath. It is proposed to perform an aerial reconnoitering mission for continuously viewing an interesting target. The vision system is composed of a hybrid visual tracking system and an image based fuzzy logic visual servo system. The designed hybrid visual tracking system can track arbitrary-shaped moving object. Also, the followed visual servo system is to control the air vehicle hovering the target autonomously. The overall system is simulated and experimented in a virtual reality environment to validate the research work.

Published in:

Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on

Date of Conference:

2-6 Aug. 2005