The Skeyeball Tracking Project

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The Skeyeball Tracking Project Danko Antolovic,
Chatham College, Pittsburgh, Pennsylvania Bryce
Himebaugh, Indiana University, Bloomington,
Indiana Steven D. Johnson, Indiana University,
Bloomington, Indiana
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Goals and Objectives of Skeyeball - Situated
vision research - vision-based guidance of a
semi-autonomous UAV - target tracking -
collision avoidance - Development of tools
and methods for reliable embedded design - e.g.
SPIDER avionics, under development at NASA/LRC -
Development of a platform for undergrad/graduate
education
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Start with a gray-scale aerial shot
threshold it to B/W
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trace edges
segment the edge map into connected components
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calculate moments of inertia for each component
Moments are invariant under rotations and
translations. Move the camera to bring the target
in the center of the vision field.
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Architecture of the Tracking System
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The Immediate Future

• The experimental objective is to provide the
  aircraft with
• a reconnoitering mode, in which it looks for
  targets
• an orbiting mode, in which it autonomously
  circles (or otherwise tracks) an acquired target
• - collision avoidance for stationary obstacles,
  to be extended in the future to avoidance of
  other UAVs