Uploaded March 2021 | Updated September 2026, 3 days ago
Video for the IROS 2021 submission.
Preprint: arxiv.org/abs/2103.06522.
This work presents an improved aerial tracking system based on Fast-Tracker (ICRA 2021). We upgrade the target detection in Fast-tracker to detect and localize a human target based on deep learning and non-linear regression. Besides, we equip the quadrotor system with a 360-degree active vision by a customized gimbal camera. Furthermore, we improve the tracking trajectory planning in Fast-tracker by incorporating an occlusion-aware mechanism that generates observable tracking trajectories. Comprehensive real-world tests confirm the proposed system’s robustness and real-time capability. Benchmark comparisons with Fast-tracker validate that the proposed system presents better tracking performance even when performing more difficult tracking tasks.
Video for the IROS 2021 submission.
Preprint: arxiv.org/abs/2103.06522.
This work presents an improved aerial tracking system based on Fast-Tracker (ICRA 2021). We upgrade the target detection in Fast-tracker to detect and localize a human target based on deep learning and non-linear regression. Besides, we equip the quadrotor system with a 360-degree active vision by a customized gimbal camera. Furthermore, we improve the tracking trajectory planning in Fast-tracker by incorporating an occlusion-aware mechanism that generates observable tracking trajectories. Comprehensive real-world tests confirm the proposed system’s robustness and real-time capability. Benchmark comparisons with Fast-tracker validate that the proposed system presents better tracking performance even when performing more difficult tracking tasks.
