Visual feedback control of quadrotor by object detection in movies

Lu Shao, Fusaomi Nagata, Hiroaki Ochi, Akimasa Otsuka, Takeshi Ikeda, Keigo Watanabe, Maki K. Habib

Research output: Contribution to journalArticlepeer-review

Abstract

In the previous report, the authors developed a quadrotor mission planning function using a smartphone and an autopilot function using GPS signals. In this paper, a visual feedback control is considered so that the system can automatically recognize the existence of an object in images or movies acquired by a quadrotor with a surveillance camera and this enables the quadrotor to track the object within the operational environment without using GPS signals. The visual feedback control is realized by automatic object recognition based on techniques of computer vision, in which the center of gravity position in the image coordinate system can be obtained from color or shape information. A visual feedback control application for flight control of DJI’s quadrotor Matrice100, and image analysis software are developed using Xcode and MATLAB, respectively. The validity and effectiveness are evaluated through experiments.

Original languageEnglish
Pages (from-to)488-494
Number of pages7
JournalArtificial Life and Robotics
Volume25
Issue number3
DOIs
Publication statusPublished - Aug 1 2020

Keywords

  • Image processing
  • Object detection
  • Quadrotor
  • Visual feedback control
  • iOS application

ASJC Scopus subject areas

  • Biochemistry, Genetics and Molecular Biology(all)
  • Artificial Intelligence

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