UAV formation flight based on vision sensor

This paper discusses the vision-based UAV formation flight methods, describes the critical section-formation guidance, moving object extracting, object tracking in detail. At the same time, we propose a real-time video drawing method to apply to flying vehicle object extracting, and introduce the unscented Kalman filtering(UKF) into object tracking to improve the often-used extended Kalman filtering(EKF). The simulation results show their efficiency.