A Moving Target Tracking System of Quadrotors with Visual-Inertial Localization
Ziyue Lin,Wenbo Xu,Wei Wang,Ziyue Lin,Wenbo Xu,Wei Wang
This paper implements a vision-based moving target tracking system of quadrotors with visual-inertial localization in GNSS-denied indoor environments. We use the visual-inertial odometry to estimate the states of the UAV by minimizing visual and inertial residuals, and estimate the states of the target with extended Kalman Filter from visual detection. This research formulates the target tracking ...
