Airborne Visual Tracking of UAVs with a Pan-Tilt-Zoom Camera

Athanasios Tsoukalas, Nikolaos Evangeliou, Nikolaos Giakoumidis, Anthony Tzes


The visual detection and tracking of UAVs using a Pan-Tilt-Zoom (PTZ) camera attached to another aerial platform is the scope of this article. The long-term tracker is performing image background subtraction using visual homography and is used to initialize a short term tracker that works in parallel to enhance the tracking for various motions. The moving UAV is detected using optical flow concepts and its bounding box encapsulates its detected features. A Kalman predictor provides a robust smooth tracking of the bounding box in the temporary absence of a detected UAV. The camera pans and tilts so as the tracked UAV is centered within its Field-of-View and zooms in order to expand the UAV’s view. Experimental results are offered using an evader-tracker UAV-group to validate the presented tracking algorithm.


Paper Citation