A Pan-tilt Camera Control System of UAV Visual Tracking Based on Biomimetic Eye

Firstly, the characteristics of UAV visual tracking system were analysed, secondly the three-dimensional oculomotor control system model of biomimetic eye was developed based on the oculomotor neural paths. Then a new UAV visual tracking system was established. The on-board pan-tilt camera control s...

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Bibliographic Details
Main Authors: Hairong Zou, Zhenbang Gong, Shaorong Xie, Wei Ding
Format: Conference Proceeding
Language:English
Subjects:
Automatic control
biomimetic eye
Biomimetics
Cameras
Control system synthesis
Control systems
Image processing
Motion control
oculomotor control
pan-tilt camera control
Robotics and automation
Target tracking
UAV
Unmanned aerial vehicles
visual tracking
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Description
Summary:Firstly, the characteristics of UAV visual tracking system were analysed, secondly the three-dimensional oculomotor control system model of biomimetic eye was developed based on the oculomotor neural paths. Then a new UAV visual tracking system was established. The on-board pan-tilt camera control system based on biomimetic eye can compensate the deflection caused by the UAV rotation and the movement of ground relative to the UAV. The pan-tilt camera can simulate human eye movements including smooth pursuit, VOR and OKR, and the control pattern of camera motor is velocity control, thus it can track the ground moving target continuously, smoothly, clearly and stably like human eye. Finally the experimental results were presented.
DOI:10.1109/ROBIO.2006.340147