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Related Experiment Videos

Tracking a Non-Cooperative Target Using Real-Time Stereovision-Based Control: An Experimental Study.

Tomer Shtark1, Pini Gurfil2

  • 1Department of Aerospace Engineering, Technion-Israel Institute of Technology, Haifa 32000, Israel. tomershtark@gmail.com.

Sensors (Basel, Switzerland)
|April 1, 2017
PubMed
Summary

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This study presents a real-time stereovision system for tracking unknown targets. It enhances target tracking accuracy using the unscented Kalman filter and total least squares for improved navigation and control.

Area of Science:

  • Robotics and Computer Vision
  • Sensor Fusion and Estimation Theory

Background:

  • Tracking non-cooperative targets in unknown environments is difficult.
  • Stereovision offers passive, wide-area scanning for object localization.

Purpose of the Study:

  • Develop and evaluate real-time non-cooperative target tracking using only stereovision.
  • Improve accuracy in static and dynamic stereovision triangulation and line-of-sight control.

Main Methods:

  • Implemented a computer-vision algorithm for feature detection and matching.
  • Designed and compared three filters for position and velocity estimation.
  • Utilized a line-of-sight control algorithm to maintain target visibility.

Main Results:

Keywords:
real-time controlstereovisiontracking

Related Experiment Videos

  • The unscented Kalman filter combined with total least squares significantly improved stereovision-based tracking.
  • Demonstrated benefits through experimental and numerical evaluations.
  • Showcased accurate solutions for static and dynamic stereovision triangulation.

    • Conclusions:

    • Stereovision-based tracking is effective for non-cooperative targets.
    • The unscented Kalman filter and total least squares provide a robust and accurate solution.
    • Findings contribute to general methods for stereovision triangulation and control.