Vision-based Drones Tracking Using Correlation Filters and Linear Integrated Multiple Model

Sie, N. J., Xuan Seah, S., Chan, J. J., Yi, J., Chew, K. H., Hooi Chan, T., Srigrarom, S., Holzapfel, F. and Hesse, H. (2021) Vision-based Drones Tracking Using Correlation Filters and Linear Integrated Multiple Model. In: 2021 18th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology (ECTI-CON), Chiang Mai, Thailand, 19-22 May 2021, pp. 1085-1090. ISBN 9781665403825 (doi: 10.1109/ECTI-CON51831.2021.9454735)

Full text not currently available from Enlighten.

Abstract

This paper presents the use of Correlation Filters and Integrated Multiple Model (IMM) for filtering the position measurement of fast moving drones acquired by computer vision, with probability for model selection. The maneuvering movement of the drones are often non-linear making it hard to be estimated by a simple Kalman filter. Instead of using a non-linear filter which are more complex and non-universal, this paper attempt to integrate multiple filters to estimate the drone position using low computational cost. The IMM switches between the Constant Velocity (CV), Constant Acceleration (CA) and a Constant Turn (CT) model with a Markov Chain in different flight scenario depending on the drone movement. Other filters i.e. Kernelized Correlation Filter (KCF), Particle Filter (PF) and Discriminative Correlation Filter (DCF) models are also presented for direct comparison.

Item Type:Conference Proceedings
Additional Information:Acknowledgement: This research was supported in part by Civil Aviation Authority of Singapore (CAAS) and Defense Science and Technology Agency (DSTA).
Status:Published
Refereed:Yes
Glasgow Author(s) Enlighten ID:Hesse, Dr Henrik
Authors: Sie, N. J., Xuan Seah, S., Chan, J. J., Yi, J., Chew, K. H., Hooi Chan, T., Srigrarom, S., Holzapfel, F., and Hesse, H.
College/School:College of Science and Engineering > School of Engineering
ISBN:9781665403825

University Staff: Request a correction | Enlighten Editors: Update this record