Visual object tracking with a quadcopter

Jon Natanael Muhovič (2017) Visual object tracking with a quadcopter. MSc thesis.

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Abstract

Because of increasing accessibility and quality of small aerial robots for personal use we wanted to upgrade their functionality with the ability to autonomously follow objects. This can be achieved by using tracking algorithms that work with visual information. Such algorithms locate the object in every image and can adapt to size and appearance changes of the object. We have formulated a system that uses information from a tracking algorithm to control the quadcopter. The proposed system is thus able to maintain the distance to the object as well as keep the object near the center of the image. By using a platform with a movable camera we have achieved high responsiveness as well as the ability to follow an object that is located lower than the quadcopter itself. Our system also manages to follow targets that move on non-planar surfaces which is not possible using a fixed camera.

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