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Visual 3D Model-based Tracking toward Autonomous Live Sports Broadcasting using a VTOL Unmanned Aerial Vehicle in GPS-Impaired Environments

by Inkyu Sa, Ho Seok Ahn
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International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Volume 122 - Number 7
Year of Publication: 2015
Authors: Inkyu Sa, Ho Seok Ahn
10.5120/21709-4825

Inkyu Sa, Ho Seok Ahn . Visual 3D Model-based Tracking toward Autonomous Live Sports Broadcasting using a VTOL Unmanned Aerial Vehicle in GPS-Impaired Environments. International Journal of Computer Applications. 122, 7 ( July 2015), 1-7. DOI=10.5120/21709-4825

@article{ 10.5120/21709-4825,
author = { Inkyu Sa, Ho Seok Ahn },
title = { Visual 3D Model-based Tracking toward Autonomous Live Sports Broadcasting using a VTOL Unmanned Aerial Vehicle in GPS-Impaired Environments },
journal = { International Journal of Computer Applications },
issue_date = { July 2015 },
volume = { 122 },
number = { 7 },
month = { July },
year = { 2015 },
issn = { 0975-8887 },
pages = { 1-7 },
numpages = {9},
url = { https://ijcaonline.org/archives/volume122/number7/21709-4825/ },
doi = { 10.5120/21709-4825 },
publisher = {Foundation of Computer Science (FCS), NY, USA},
address = {New York, USA}
}
%0 Journal Article
%1 2024-02-06T23:09:55.221975+05:30
%A Inkyu Sa
%A Ho Seok Ahn
%T Visual 3D Model-based Tracking toward Autonomous Live Sports Broadcasting using a VTOL Unmanned Aerial Vehicle in GPS-Impaired Environments
%J International Journal of Computer Applications
%@ 0975-8887
%V 122
%N 7
%P 1-7
%D 2015
%I Foundation of Computer Science (FCS), NY, USA
Abstract

This paper presents a novel approach for autonomous live sports broadcasting using visual 3D model-based tracking and a vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV) such as a quadcopter or hexacopter in GPS-impaired environments. To achieve this level of autonomy, position estimation is essential and is a highly challenging problem using a monocular camera due to the scale ambiguity. In this paper, we track a tennis court, that is standard in dimension, using a moving edge-based tracker, and recover the scale with the prior knowledge of the fixed playing field. Experimental results are demonstrated in 3 different environments including static scenes, real broadcast video, and indoor flying. We also evaluate the proposed approach with the ground truth provided by a motion capture system and achieve a position estimation with less than 0:02m standard deviation in the error.

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Index Terms

Computer Science
Information Sciences

Keywords

Vision VTOL UAVs Model-Based Tracking State Estimation GPS-Impaired Environments

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