Research on Pedestrian Tracking in Complex Environments Using UAV System

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Research on Pedestrian Tracking in Complex Environments Using UAV System

Liu, Yunzhuo / Feng, Chuan / Ma, Zhaowei / Ma, Aitong / Niu, Yifeng / Li, Tengxiang

In this paper, a small quadrotor UAV equipped with an RGB-D camera is selected to track the pedestrian in an unknown and complex environment. The UAV system uses the on-board sensors to sense the environment and detects the target to be tracked. The PP-PicoDet algorithm is used to solve the problem of rapid detection of target pedestrian detection, then key point detection is used to solve the problem that the target is obscured and unable to locate the target. At the same time, the EGO-Planner planner is improved to realize the autonomous obstacle avoidance of the UAV system in complex environments and the pedestrian tracking. Finally the pedestrian tracking framework is implemented and verified through simulation experiments.

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Dokumentinformationen

Titel :

Research on Pedestrian Tracking in Complex Environments Using UAV System

Weitere Titelangaben:

Lect. Notes Electrical Eng.

Beteiligte:

Qu, Yi (Herausgeber:in) / Gu, Mancang (Herausgeber:in) / Niu, Yifeng (Herausgeber:in) / Fu, Wenxing (Herausgeber:in) / Liu, Yunzhuo (Autor:in) / Feng, Chuan (Autor:in) / Ma, Zhaowei (Autor:in) / Ma, Aitong (Autor:in) / Niu, Yifeng (Autor:in) / Li, Tengxiang (Autor:in)

Kongress:

International Conference on Autonomous Unmanned Systems ; 2023 ; Nanjing, China September 09, 2023 - September 11, 2023

Erschienen in:

Proceedings of 3rd 2023 International Conference on Autonomous Unmanned Systems (3rd ICAUS 2023) ; Kapitel : 57 ; 618-628

Lecture Notes in Electrical Engineering ; 1170

Erscheinungsdatum :

2024-04-25

Format / Umfang :

11 pages

ISBN :

978-981-97-1107-9 , 978-981-97-1106-2

ISSN :