The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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Articles | Volume XLIII-B1-2021
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLIII-B1-2021, 189–196, 2021
https://doi.org/10.5194/isprs-archives-XLIII-B1-2021-189-2021
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLIII-B1-2021, 189–196, 2021
https://doi.org/10.5194/isprs-archives-XLIII-B1-2021-189-2021

  28 Jun 2021

28 Jun 2021

OBJECT TRACKING CONTROL USING A GIMBAL MECHANISM

D. J. Regner1, J. D. Salazar1,2, P. V. Buschinelli1, M. Machado1, D. Oliveira1, J. M. Santos3, C. A. Marinho3, and T. C. Pinto1 D. J. Regner et al.
  • 1Mechanical Engineering Department, Labmetro/UFSC - Florianópolis, SC, Brazil
  • 2Automation and Systems Department/UFSC - Florianópolis, SC, Brazil
  • 3CENPES/Petrobras, Rio de Janeiro, RJ, Brazil

Keywords: ROS, Gazebo, Simulation, Drone, Gimbal, Inspection, Deep learning, Photogrammetry

Abstract. This work describes a control solution for real time object tracking in images acquired for a RPAS on an object inspection environment. This, controlling a 3-axis gimbal mechanism to control a camera orientation embedded to a RPAS, using its image processed for feedback. The objective of control is to maintain the target of interest at the center of the image plane. The proposed solution uses a YOLOv3 object detection model in order to detect the target object and determine, thru rotation matrices, the new desired angles to converge the object’s position to the center of the image. To compare results of the proposed control, a linear control was tuned using a linear PI algorithm. Simulation and practice experiments successfully tracked the desired object in real time using YOLOv3 in both control approaches presented.