Leveraging multi-object tracking in a target following scenario from a UAV
To run simulation experiments, go to mrs-ctu page and install the mrs-ctu uav system run:
- cd /icarus_ws/src/Simulation/one_drone_gps_realsense/
- ./start.sh
Be sure to properly setup the catkin workspace for simulation and real-world experiments. Also, if using the realsense, install the proper ros package for that.
In the real-world experiments, setup the workspace and run:
- cd /icarus_ws/src/Real_World_Deployment
- ./start.sh
This tmux scrip will run the realsense node, the yolov8 node and the follow_target node which is the main function containing the image post processing, control and redetection algorithms.
Citations:
Leveraging Multi-Object Tracking in Vision-based Target Following for Unmanned Aerial Vehicles: conference paper showing simulation results:
D. Ferreira and M. Basiri, "Leveraging Multi-Object Tracking in Vision-based Target Following for Unmanned Aerial Vehicles," 2024 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), Paredes de Coura, Portugal, 2024, pp. 88-93, doi: 10.1109/ICARSC61747.2024.10535936. keywords: {YOLO;Visualization;Target tracking;Three-dimensional displays;Heuristic algorithms;Autonomous aerial vehicles;Solids;UAV;Multi-Object Tracking;YOLOv8;BoT-SORT;Flight Control;MTT},