Skip to content

AR.Drone 2.0 human tracking with Mobilenet-SSD and PID control

License

Notifications You must be signed in to change notification settings

juliagarriga/ARPET

Folders and files

NameName
Last commit message
Last commit date

Latest commit

 

History

6 Commits
 
 
 
 
 
 
 
 
 
 

Repository files navigation

ARPET

Implementation of an onboard vision system autonomous tracker for an AR.Drone 2.0 using three PID controllers and the PS-Drone http://www.playsheep.de/drone/ library. The tracking algorithm is composed of an object detector implemented using a Caffe trained network of MobileNet-SSD, and a KCF object tracker using OpenCV v3. A Kalman filter is implemented to reduce the noise induced by the tracker. The code was tested indoors and the system yields acceptable results.

All code is written in Python 2.7. The dependencies are the PS-Drone library, OpenCV version > 3.0 and Numpy.

A visualization of the framework is shown in https://www.youtube.com/watch?v=ydnCSK7LFvU&t=2s.

About

AR.Drone 2.0 human tracking with Mobilenet-SSD and PID control

Topics

Resources

License

Stars

Watchers

Forks

Releases

No releases published

Packages

No packages published

Languages