カメラ画像にもとづくドローンの物体追尾

抄録

In this paper, a drone is controlled so as to track a yellow ball based on the image taken by the camera on the drone. In particular, its vertical and lateral control is made so that the position of the ball is kept at the center of the camera image. Its longitudinal control is made so that the size of the ball is kept constant in the camera image. It is also reported that the control delay differs dependent on the control direction and that it can be problematic to use the size of the ball image for control.