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Image processing and flltering are essential elements for the visual tracking system in an unmanned aerial vehicle. This paper presents visual tracking methodology based on particle flltering in the framework of a fast implementation of the Chan-Vese active contour model. The fast implementation greatly improves the computational time of the segmentation process. We have tested particle flltering using this fast active contour model, and the flltering algorithm has shown the ability to robustly track an aerial target under varied conditions. The computational speed of the algorithm has allowed us to employ it for formation ∞ight among UAVs. We have also demonstrated the utility of the flltering algorithm for multiple target tracking in the presence of occlusions.
Ha et al. (Tue,) studied this question.