A Pan-tilt Camera Control System of UAV Visual Tracking Based on Biomimetic Eye

Author

Zou, Hairong ; Gong, Zhenbang ; Xie, Shaorong ; Ding, Wei

Author_Institution

Dept. of Precision Mech. Autom., Shanghai Univ., Shanghai

fYear

2006

fDate

17-20 Dec. 2006

Firstpage

1477

Lastpage

1482

Abstract

Firstly, the characteristics of UAV visual tracking system were analysed, secondly the three-dimensional oculomotor control system model of biomimetic eye was developed based on the oculomotor neural paths. Then a new UAV visual tracking system was established. The on-board pan-tilt camera control system based on biomimetic eye can compensate the deflection caused by the UAV rotation and the movement of ground relative to the UAV. The pan-tilt camera can simulate human eye movements including smooth pursuit, VOR and OKR, and the control pattern of camera motor is velocity control, thus it can track the ground moving target continuously, smoothly, clearly and stably like human eye. Finally the experimental results were presented.

Keywords

aircraft control; biomimetics; cameras; remotely operated vehicles; robot vision; tracking; OKR; UAV visual tracking; VOR; biomimetic eye; oculomotor neural paths; pan-tilt camera control system; three-dimensional oculomotor control system model; Automatic control; Biomimetics; Cameras; Control system synthesis; Control systems; Image processing; Motion control; Robotics and automation; Target tracking; Unmanned aerial vehicles; UAV; biomimetic eye; oculomotor control; pan-tilt camera control; visual tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2006. ROBIO '06. IEEE International Conference on

Conference_Location

Kunming

Print_ISBN

1-4244-0570-X

Electronic_ISBN

1-4244-0571-8

Type

conf

DOI

10.1109/ROBIO.2006.340147

Filename

4142084