Vision-based tracking and motion estimation for moving targets using small UAVs

This paper addresses the development of a vision-based target tracking system for a small unmanned air vehicle. The algorithm performs autonomous tracking of a moving target, while simultaneously estimating GPS coordinates of the target. A low cost off the shelf system is utilized, with a modified radio controlled aircraft airframe, gas engine and servos. Tracking is enabled using a low-cost, miniature pan-tilt gimbal. The control algorithm provides rapid and sustained target acquisition and tracking capability. A target position estimator was designed and shown to provide reasonable targeting accuracy. The impact of target loss events on the control and estimation algorithms is analyzed in detail