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Summary
This summary is machine-generated.

This study introduces a real-time visual tracking system for unmanned aerial vehicles (UAVs) using DJI Payload Software Development Kit (PSDK). The system achieves low latency (30 ms) and high precision tracking, even at high speeds.

Keywords:
DJIedge computingunmanned aerial vehicle (UAV)visual servo controlvisual tracking

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Area of Science:

  • Robotics
  • Computer Vision
  • Control Systems

Background:

  • Resource-constrained edge platforms pose challenges for real-time visual tracking in UAVs, requiring a balance between precision and low latency.
  • Existing systems often face latency issues due to middleware layers like Robot Operating System (ROS).

Purpose of the Study:

  • To design and implement a real-time visual tracking system for UAVs with high precision and low latency.
  • To overcome computational limitations on edge platforms.
  • To validate the system's stability and tracking performance in diverse field conditions.

Main Methods:

  • Developed a Middleware-Free Architecture utilizing DJI Payload Software Development Kit (PSDK) to reduce serialization overhead and end-to-end latency.
  • Proposed a Lightweight Asymmetric De-coupled Visual Servoing (ADVS) strategy, incorporating orthogonal kinematic de-coupling and a non-linear dead-zone with dynamics-aware gain scheduling.
  • Implemented a Geometry-Aware Fusion strategy for outlier rejection and a Finite State Machine (FSM) for temporal consistency.

Main Results:

  • Achieved a significant reduction in end-to-end latency by over 60%, reaching approximately 30 ms.
  • Demonstrated robust target tracking at speeds up to 23 m/s across dynamic maneuvers.
  • Verified system stability and tracking capability through extensive field experiments.

Conclusions:

  • High-performance edge tracking can be achieved through architectural latency minimization and optimized robust control strategies, not just increased model complexity.
  • The proposed system offers an effective solution for real-time visual tracking on resource-limited UAV platforms.
  • The Middleware-Free Architecture and ADVS strategy represent significant advancements in UAV visual tracking technology.