Study for the vision-based object detection and tracking on unmanned aerial vehicles

This document is a degree thesis that consists of a study of vision-based computing techniques for the detection and tracking of objects. The development of the study has been carried out using OpenCV, CUDA and PX4. The first chapter presents a definition of the objectives, requirements and planning for the development of the study. Next a brief introduction to computer vision and its state of the art is included. After presenting the work to be done, chapters 3, 4 and 5 explain the different approaches to detection, tracking and control algorithms, and each chapter explains the solution chosen for each one. Chapter 6 introduces the whole system and explains how the above algorithms are implemented in a drone. Finally, in chapter 7 the tests and their results are presented and discussed