ML Anthology

A Low-Level Active Vision Framework for Collaborative Unmanned Aircraft Systems

Martin Danelljan, Fahad Shahbaz Khan, Michael Felsberg, Karl Granström, Fredrik Heintz, Piotr Rudol, Mariusz Wzorek, Jonas Kvarnström, Patrick Doherty
ECCVW 2014 pp. 223-237
doi:10.1007/978-3-319-16178-5_15 /eccvw/2014/danelljan2014eccvw-lowlevel/

Abstract

Micro unmanned aerial vehicles are becoming increasingly interesting for aiding and collaborating with human agents in myriads of applications, but in particular they are useful for monitoring inaccessible or dangerous areas. In order to interact with and monitor humans, these systems need robust and real-time computer vision subsystems that allow to detect and follow persons. In this work, we propose a low-level active vision framework to accomplish these challenging tasks. Based on the LinkQuad platform, we present a system study that implements the detection and tracking of people under fully autonomous flight conditions, keeping the vehicle within a certain distance of a person. The framework integrates state-of-the-art methods from visual detection and tracking, Bayesian filtering, and AI-based control. The results from our experiments clearly suggest that the proposed framework performs real-time detection and tracking of persons in complex scenarios.

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Cite

Text

Danelljan et al. "A Low-Level Active Vision Framework for Collaborative Unmanned Aircraft Systems." European Conference on Computer Vision Workshops, 2014. doi:10.1007/978-3-319-16178-5_15

Markdown

[Danelljan et al. "A Low-Level Active Vision Framework for Collaborative Unmanned Aircraft Systems." European Conference on Computer Vision Workshops, 2014.](https://mlanthology.org/eccvw/2014/danelljan2014eccvw-lowlevel/) doi:10.1007/978-3-319-16178-5_15

BibTeX

@inproceedings{danelljan2014eccvw-lowlevel,
  title     = {{A Low-Level Active Vision Framework for Collaborative Unmanned Aircraft Systems}},
  author    = {Danelljan, Martin and Khan, Fahad Shahbaz and Felsberg, Michael and Granström, Karl and Heintz, Fredrik and Rudol, Piotr and Wzorek, Mariusz and Kvarnström, Jonas and Doherty, Patrick},
  booktitle = {European Conference on Computer Vision Workshops},
  year      = {2014},
  pages     = {223-237},
  doi       = {10.1007/978-3-319-16178-5_15},
  url       = {https://mlanthology.org/eccvw/2014/danelljan2014eccvw-lowlevel/}
}