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Authors: Athanasios Tsoukalas 1 ; Nikolaos Evangeliou 1 ; Nikolaos Giakoumidis 2 and Anthony Tzes 1

Affiliations: 1 Engineering Division, New York University Abu Dhabi, P.O. 129188, Abu Dhabi, U.A.E. ; 2 Core Technology Platform, New York University Abu Dhabi, P.O. 129188, Abu Dhabi, U.A.E.

Keyword(s): Variable Object Tracking, Visual Homography, Optical Flow.

Abstract: 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.

CC BY-NC-ND 4.0

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Paper citation in several formats:
Tsoukalas, A.; Evangeliou, N.; Giakoumidis, N. and Tzes, A. (2020). Airborne Visual Tracking of UAVs with a Pan-Tilt-Zoom Camera. In Proceedings of the International Conference on Robotics, Computer Vision and Intelligent Systems - ROBOVIS; ISBN 978-989-758-479-4, SciTePress, pages 90-97. DOI: 10.5220/0010112900900097

@conference{robovis20,
author={Athanasios Tsoukalas. and Nikolaos Evangeliou. and Nikolaos Giakoumidis. and Anthony Tzes.},
title={Airborne Visual Tracking of UAVs with a Pan-Tilt-Zoom Camera},
booktitle={Proceedings of the International Conference on Robotics, Computer Vision and Intelligent Systems - ROBOVIS},
year={2020},
pages={90-97},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010112900900097},
isbn={978-989-758-479-4},
}

TY - CONF

JO - Proceedings of the International Conference on Robotics, Computer Vision and Intelligent Systems - ROBOVIS
TI - Airborne Visual Tracking of UAVs with a Pan-Tilt-Zoom Camera
SN - 978-989-758-479-4
AU - Tsoukalas, A.
AU - Evangeliou, N.
AU - Giakoumidis, N.
AU - Tzes, A.
PY - 2020
SP - 90
EP - 97
DO - 10.5220/0010112900900097
PB - SciTePress

- Science and Technology Publications, Lda.
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