Visual Identification and Tracking for Vertical and Horizontal Targets in Unknown Indoor Environment

摘要

This paper presents the visual identification and tracking module developed for automatic character recognition on-board Unmanned Aerial Vehicles (UAVs) to be used in the IMAV indoor autonomy competition. The presented strategy is based on three stages: image segmentation, visual tracking and optical character recognition (OCR). The module is validated in a houselike environment, which has the same characteristic as the ones used in the competition, including challenging distracters such as windows, door and illumination that represent a challenging scenario for the automatic character recognition sub-task. The results show that each stage in this module can accomplish its function successfully and obtain the correct information from the vertical and horizontal targets, based on the obtained visual information and on-board sensors.