UAV Formation Visual Tracking System

System Overview

The system is to let a number of UAVs with calibrated cameras track the selected target.

System running process.

System structure.

Getting Started

Environment

1. Ubuntu 16.04 LTS
2. ROS kinetic
3. cmake

Denpendancy

1. DJI Onboard SDK 3.7 download.
2. serial communication toolbox.
3. libusb.
4. SLAMTEC rplidar ROS SDK download.

Run

1. use command catkin_make to compile the project in the root directory
2. run the init script initCen.sh and init.sh for the centralized and the decentralized position estimation respectively.
3. start the communication process first and choose the target bounding box after the communication of all the nodes stablize.