An Integrated Vision-based Detection-tracking-estimation System for Dynamic Localization of Small Aerial Vehicles

摘要

A unified detection-tracking-estimation vision navigation system and algorithms framework for position and pose estimation of small aerial vehicle (UAV) is proposed in conjunction with our recent 3D dynamic localization technique. The major contribution of this work is a novel combination of deep learning for detection of moving object as the small UAV, follow by the vision tracking and estimation of the spatial location in global frame. The system can be multiplied and that the extended systems would provide 3D coordinates of the UAV. The demonstrations in both indoor and outdoor were conducted and that the system was able to detect and locate the small aerial vehicle in 3D space.