Vision-Based Target Detection and Tracking for a Miniature Pan-Tilt Inertially Stabilized Platform

Abstract

This paper presents a novel visual servoing sheme for a miniature pan-tilt intertially stabilized platform (ISP). A fully customized ISP can be mounted on a miniature quadcopter to achieve stationary or moving target detection and tracking. The airborne pan-tilt ISP can effectively isolate a disturbing rotational motion of the carrier, ensuring the stabilization of the optical axis of the camera in order to obtain a clear video image. Meanwhile, the ISP guarantees that the target is always on the optical axis of the camera, so as to achieve the target detection and tracking. The vision-based tracking control design adopts a cascaded control structure based on the mathematical model, which can accurately reflect the dynamic characteristics of the ISP. The inner loop of the proposed controller employs a proportional lag compensator to improve the stability of the optical axis, and the outer loop adopts the feedback linearization-based sliding mode control method to achieve the target tracking. Numerical simulations and laboratory experiments demonstrate that the proposed controller can achieve satisfactory tracking performance.

Image convolution techniques integrated with YOLOv3 algorithm in motion object data filtering and detection

“…Through these two improvement methods, the detection performance of the YOLOv3 algorithm can be enhanced, reducing missed detections. While ensuring detection accuracy, efforts are made to improve detection speed, thereby increasing the efficiency and accuracy of object detection 23 . The performance comparison with different partitioning sizes is shown in Table 1 .…”

Research on the application of inertially stabilized platform in the dynamic measurement of cold atomic gravimeter

“…Inertially stabilized platform [ [31] , [32] , [33] ] are widely used in image tracking [ 34 , 35 ], attitude control [ 36 , 37 ] and so on. The main function of the ISP is to restrain the interference torque and isolate the carrier movement to ensure that the frame is always in the geographical horizontal plane.…”

A Study on Robust Finite-Time Visual Servoing with a Gyro-Stabilized Surveillance System

“…F. Guo et al [12] proposed a feedback linearization control scheme with command planning for the problem of LOS tracking. J. Guo et al [13] introduced a cascade vision-based tracking control, consisting of a proportional lag compensator in the inner loop, and a feedback linearization-based sliding mode controller in the outer loop. However, in the presence of carrier disturbances and target movement, large deviations in tracking errors are created.…”