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Theses

Analyse de séquences d'images à cadence vidéo pour l'asservissement d'une caméra embarquée sur un drone

Abstract : This thesis deals with visual servoing for a pan and tilt camera embedded in a drone. The aim is to control the camera in order to track any fixed object on the ground without knowledge about shape or texture and to keep it centered in the image. In a first part, an algorithm that combines global and local motion estimation is proposed. In a second part, the control of the system is based on a double closed loop : the outer one includes the video analysis while the inner one controls the pan and tilt speed. In order to improve the time response of the system we propose a new upsampling scheme. Upsampling means that controls are sent to the pan and tilt actuator during the convergence of the image analysis algorithm and not at the end as usual. We also propose a LQR controller for removing offset and non-linearities. Simulations and experimentations in real conditions show the effectiveness of the proposed scheme.
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https://tel.archives-ouvertes.fr/tel-00380091
Contributor : Laurent Bonnaud <>
Submitted on : Wednesday, April 29, 2009 - 5:38:36 PM
Last modification on : Thursday, November 19, 2020 - 12:59:40 PM
Long-term archiving on: : Monday, October 15, 2012 - 9:45:57 AM

Identifiers

  • HAL Id : tel-00380091, version 1

Citation

Benoit Louvat. Analyse de séquences d'images à cadence vidéo pour l'asservissement d'une caméra embarquée sur un drone. Automatique / Robotique. Institut National Polytechnique de Grenoble - INPG, 2008. Français. ⟨tel-00380091⟩

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