STABILIZATION AND OBJECT TRACKING BASED ON COMPUTER VISION: APPLICATION IN A QUAD-ROTOR

"This work presents a Research and Development thesis of a functional Unmanned Aerial Vehicle (UAV), integrating optical flow algorithms and navigation based on object detection using Computer-Vision Features Classifiers and Robotics. This work presents two main problems to solve. In one of them, a position estimation system for Unmanned Aerial Vehicles consisting of hardware and software is presented. It is based on low-cost devices(GPS, commercial autopilot sensors and optical flow algorithm) implemented in an on-board microcomputer. Comparative tests were conducted using the proposed approach and the conventional one, where only fusion of GPS and inertial sensors are used. Furthermore, the second problem addresses object detection and tracking based on Computer Vision techniques, in essence, a training technique known as Haar Feature-based cascade classifier, image processing is made on-board with a high processor single-board computer. Based on the detected object and its position, the UAV must track it to ensure to be positioned in a center position with respect to the object and in a safe distance to it."