"Tracking control of a UAV with a parallel visual processor", C. Greatwood, L. Bose, T. Richardson, W. Mayol-Cuevas, J. Chen, S.J. Carey and P. Dudek, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017 [PDF].
This paper presents a vision-based control strategy for tracking a ground target using a novel vision sensor featuring a processor for each pixel element. This enables computer vision tasks to be carried out directly on the focal plane in a highly efficient manner rather than using a separate general purpose computer. The strategy enables a small, agile quadrotor Unmanned Air Vehicle (UAV) to track the target from close range using minimal computational effort and with low power consumption. The tracking algorithm exploits the parallel nature of the visual sensor, enabling high rate image processing ahead of any communication bottleneck with the UAV controller. With the vision chip carrying out the most intense visual information processing, it is computationally trivial to compute all of the controls for tracking onboard. This work is directed toward visual agile robots that are power efficient and that ferry only useful data around the information and control pathways.
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