338 research outputs found
An Appearance-Based Tracking Algorithm for Aerial Search and Rescue Purposes
The automation of the Wilderness Search and Rescue (WiSAR) task aims for high levels of understanding of various scenery. In addition, working in unfriendly and complex environments may cause a time delay in the operation and consequently put human lives at stake. In order to
address this problem, Unmanned Aerial Vehicles (UAVs), which provide potential support to the
conventional methods, are used. These vehicles are provided with reliable human detection and
tracking algorithms; in order to be able to find and track the bodies of the victims in complex
environments, and a robust control system to maintain safe distances from the detected bodies.
In this paper, a human detection based on the color and depth data captured from onboard sensors
is proposed. Moreover, the proposal of computing data association from the skeleton pose and a
visual appearance measurement allows the tracking of multiple people with invariance to the scale,
translation and rotation of the point of view with respect to the target objects. The system has been
validated with real and simulation experiments, and the obtained results show the ability to track
multiple individuals even after long-term disappearances. Furthermore, the simulations present the
robustness of the implemented reactive control system as a promising tool for assisting the pilot to
perform approaching maneuvers in a safe and smooth manner.This research is supported by Madrid Community project SEGVAUTO 4.0 P2018/EMT-4362)
and by the Spanish Government CICYT projects (TRA2015-63708-R and TRA2016-78886-C3-1-R), and Ministerio
de Educación, Cultura y Deporte para la Formación de Profesorado Universitario (FPU14/02143). Also,
we gratefully acknowledge the support of the NVIDIA Corporation with the donation of the GPUs used for
this research
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