Visual tracking and servoing system design for circling a target of an air vehicle simulated in virtual reality

This paper presents the development of a visual tracking and visual servo system for a reconnoitering air vehicle. The air vehicle is mounted with a camera platform underneath. It is proposed to perform an aerial reconnoitering mission for continuously viewing an interesting target. The vision system is composed of a hybrid visual tracking system and an image based fuzzy logic visual servo system. The designed hybrid visual tracking system can track arbitrary-shaped moving object. Also, the followed visual servo system is to control the air vehicle hovering the target autonomously. The overall system is simulated and experimented in a virtual reality environment to validate the research work.