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Object Tracking - Working on Mission Planner Integration

Posted by Adam Rivera on October 11, 2011 at 7:30am


I am currently working on integrating an object tracking algorithm of my own making into the Mission Planner. The algorithm combines Lucas-Kanade and SURF and attempts to learn negative and positive reinforcement values as it runs. Right now it is in the early stages of development, but I hope to have something fully functional within a few months.

 

My hope is to use this to aid in automatic centering of the tracked object by sending commands to the APM to move the camera gimbal based on the distance of the tracked object from the center of the frame. In the videos below you will see two demonstrations of this tracking algorithm. In both cases it seems to perform well with background noise.

 

NOTE: I apologize for the terrible frame rate of the videos. I don't have very good screen capture software. The second video is a little higher quality.


Tags: surf, lucas-kanade, mission planner, object tracking
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Comments

  • Dimitri October 11, 2011 at 9:03am

    But your work look very complex, it's impressive ! I'm not sure but i think i've seen same things done with openCL library (but not for drones)

  • Developer
    Adam Rivera October 11, 2011 at 8:59am

    Dimitri,

    Unfortunately I have no experience with QGroundControl. Perhaps someone else can port my work to their GCS.

    Thanks,

    Adam

  • Dimitri October 11, 2011 at 8:50am

    I think it will better to integrate it in qgroundcontrol than in apm ;)

This reply was deleted.