Target Tracking w Companion Computer Image Processing Idea Discussion

ArduCopter
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1

Hello,

Currently drone can follow a chosen target in GUIDED mode with Velocity commands with Proportional Controller. There is a visual tracking running, that way the distance(in pixels) to the center is the error for the controller.

I want to utilize a PID controller as my next goal. And, later on I want to implement a method to do object avoidance with a lidar.

Alternative to controlling the vehicle with Velocity command could be simple go to, the target’s relative location could be calculated with calibrated camera and known altitude.

I would appreciate the feedbacks and inputs.

2

Are we allowed to bump it

3

You can bump it. Tracking is being developed in a PR
Object avoidance is available already.

1 Like
4

Thanks, i ll be checking the PR.

5

For my understanding if companion computer sends MAV_CMD_CAMERA_TRACK_POINT messages with point’s location scaled to 0-1 from the picture, it will be tracking it in Auto mode?

6

Alternative to controlling the vehicle with Velocity command could be simple go to, the target’s relative location could be calculated with calibrated camera and known altitude.

Here is how to calculate relative distance without GPS.