Autonomous feature following for visual surveillance using a small unmanned aerial vehicle with gimbaled camera system

  • Deok-Jin Lee
  • Isaac Kaminer
  • Vladimir Dobrokhodov
  • Kevin Jones
Special Section on Advances in Intelligent Visual Surveillance Systems


This paper represents the development of feature following control and distributed navigation algorithms for visual surveillance using a small unmanned aerial vehicle equipped with a low-cost imaging sensor unit. An efficient map-based feature generation and following control algorithm is developed to make an onboard imaging sensor to track a target. An efficient navigation system is also designed for real-time position and velocity estimates of the unmanned aircraft, which is used as inputs for the path following controller. The performance of the proposed autonomous path following capability with a stabilized gimbaled camera onboard a small unmanned aerial robot is demonstrated through flight tests with application to target tracking for real-time visual surveillance.


Autonomous navigation imaging sensors path following control real-time visual surveillance stabilized gimbaled camera unmanned aerial robots 


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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Deok-Jin Lee
    • 1
  • Isaac Kaminer
    • 2
  • Vladimir Dobrokhodov
    • 2
  • Kevin Jones
    • 2
  1. 1.Center for Autonomous Vehicle Research (CAVR)Naval Postgraduate SchoolMontereyUSA
  2. 2.Department of Mechanical and Astronautical EngineeringNaval Postgraduate SchoolMontereyUSA

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