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Title: Wavelet-based 6-DoF visual tracking system for miniature aerial vehicle
Authors: Islam, S. 
Mukhtar, H. 
Al Khawli, T. 
Sunda-Meya, A. 
Issue Date: 2018
Publisher: Institute of Electrical and Electronics Engineers Inc.
Journal: 44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018 
Abstract: This paper develops a new wavelet-based visual tracking system for miniature aerial vehicle (MAV) system. The visual signals for visual tracking system is formulated based on using wavelet coefficients. The design uses multiresolution interaction matrix with half and details image to relate the time-variation of wavelet coefficients with the velocity of the MAV and controller. The design is evaluated on a quadrotor MAV system to demonstrate the effectiveness of the wavelet based 6-DOF visual tracking system without using image processing unit. The evaluation results show that the MWT based linear controller can provide accuracy and efficiency without using image processing unit provided that the system does not contain any uncertainty. © 2018 IEEE.
DOI: 10.1109/IECON.2018.8591645
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