Next Article in Journal
Methodologies and Uncertainties in the Use of the Terrestrial Chlorophyll Index for the Sentinel-3 Mission
Next Article in Special Issue
Architecture and Methods for Innovative Heterogeneous Wireless Sensor Network Applications
Previous Article in Journal
SR-4000 and CamCube3.0 Time of Flight (ToF) Cameras: Tests and Comparison
Previous Article in Special Issue
Multispectral Remote Sensing from Unmanned Aircraft: Image Processing Workflows and Applications for Rangeland Environments
Open AccessArticle

A Real-Time Method to Detect and Track Moving Objects (DATMO) from Unmanned Aerial Vehicles (UAVs) Using a Single Camera

1
Centro de Automática & Robótica, Universidad Politécnica de Madrid, C/Jose Gutierrez Abascal nº2, E-28006 Madrid, Spain
2
Department of Electrical and Computer Engineering, University of Auckland, Private Bag 92019, Auckland, New Zealand
*
Author to whom correspondence should be addressed.
Remote Sens. 2012, 4(4), 1090-1111; https://doi.org/10.3390/rs4041090
Received: 29 February 2012 / Revised: 11 April 2012 / Accepted: 13 April 2012 / Published: 20 April 2012
(This article belongs to the Special Issue Unmanned Aerial Vehicles (UAVs) based Remote Sensing)
We develop a real-time method to detect and track moving objects (DATMO) from unmanned aerial vehicles (UAVs) using a single camera. To address the challenging characteristics of these vehicles, such as continuous unrestricted pose variation and low-frequency vibrations, new approaches must be developed. The main concept proposed in this work is to create an artificial optical flow field by estimating the camera motion between two subsequent video frames. The core of the methodology consists of comparing this artificial flow with the real optical flow directly calculated from the video feed. The motion of the UAV between frames is estimated with available parallel tracking and mapping techniques that identify good static features in the images and follow them between frames. By comparing the two optical flows, a list of dynamic pixels is obtained and then grouped into dynamic objects. Tracking these dynamic objects through time and space provides a filtering procedure to eliminate spurious events and misdetections. The algorithms have been tested with a quadrotor platform using a commercial camera. View Full-Text
Keywords: UAV; DATMO; optical flow; surveillance; homography-based optical flow; Kalman Filter Tracking UAV; DATMO; optical flow; surveillance; homography-based optical flow; Kalman Filter Tracking
Show Figures

Graphical abstract

MDPI and ACS Style

Rodríguez-Canosa, G.R.; Thomas, S.; Del Cerro, J.; Barrientos, A.; MacDonald, B. A Real-Time Method to Detect and Track Moving Objects (DATMO) from Unmanned Aerial Vehicles (UAVs) Using a Single Camera. Remote Sens. 2012, 4, 1090-1111.

Show more citation formats Show less citations formats

Article Access Map

1
Only visits after 24 November 2015 are recorded.
Back to TopTop