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This paper proposes a patch-based keypoints clustering method for long term robust visual tracking. We plan to employ a parallel framework with keypoints matching and estimation for tracking purpose. Patch-based method is implemented in our algorithm to improve the flexibility of system. The template is divided into patches to ensure the spatial constraint of local keypoints. The motion cue of patches...
Due to the ever increasing affordability of video surveillance equipment, surveillance cameras have become widely used to great effect at various large scale events, to reduce the risk of crowd-related incidents and enhance public safety. If a large amount of existing video data can be used to capture motion features and detect the distribution of a crowd within a monitored area over a long duration,...
This paper proposes an innovative method to detect micro aerial vehicles (MAVs) and estimate their relative pose in formation using a monocular on-board camera. Haar classifier is trained for autonomously detecting MAV in open scenes, like grasslands or obstruct-free playgrounds. In order to increase the robustness of the detection, a Kaiman filter has been employed to conduct image tracking. Contours...
Motivated by the 2013 International UAV Innovation Grand Prix (UAVGP), we design and implement a real-time vision system for an unmanned helicopter to transfer cargoes between two moving platforms fully autonomously. The key algorithms in the vision system include ellipse detection, ellipse tracking and single-circle-based pose estimation. Comprehensive experiments have verified the efficiency, accuracy...
In this paper, we present a vision-based relative sensing system for UAVs to realize leader-follower formation flight without inter-vehicle communication. A monocular camera is mounted on the follower to detected the leader and measure the relative distance by using the geometry information of the leader without artificial markers. The measured relative distance is utilized to estimate the velocity...
In this paper, we present a systematic design and implementation of a robust real-time embedded vision system for an unmanned helicopter for ground target seeking and following. The on-board software system is developed based on a multithread technology capable of coordinating multiple tasks. To realize the autonomously ground target seeking and following, a sophisticated vision algorithm is proposed...
We propose a robust system for multi-vehicle and multi-lane detection with integrating lane and vehicle information. Most research work only can detect the lanes or vehicles separately. However, the dependency between lane information and vehicle information are able to support each other achieving more reliable results. We use probabilistic data association filter to integrate the information of...
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