{"id":"https://openalex.org/W3153450862","doi":"https://doi.org/10.1109/access.2021.3074413","title":"Vision-Based Target Detection and Tracking System for a Quadcopter","display_name":"Vision-Based Target Detection and Tracking System for a Quadcopter","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3153450862","doi":"https://doi.org/10.1109/access.2021.3074413","mag":"3153450862"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3074413","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3074413","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09409082.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09409082.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Shicheng Wu","orcid":"https://orcid.org/0000-0001-6664-4827"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shicheng Wu","raw_affiliation_strings":["School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, China"],"raw_orcid":"https://orcid.org/0000-0001-6664-4827","affiliations":[{"raw_affiliation_string":"School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100448589","display_name":"Rui Li","orcid":"https://orcid.org/0000-0003-0288-7007"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Li","raw_affiliation_strings":["School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, China"],"raw_orcid":"https://orcid.org/0000-0003-0288-7007","affiliations":[{"raw_affiliation_string":"School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112506384","display_name":"Yingjing Shi","orcid":null},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingjing Shi","raw_affiliation_strings":["School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048605513","display_name":"Qisheng Liu","orcid":"https://orcid.org/0000-0002-2516-6715"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qisheng Liu","raw_affiliation_strings":["School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, China"],"raw_orcid":"https://orcid.org/0000-0002-2516-6715","affiliations":[{"raw_affiliation_string":"School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I150229711"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.7884,"has_fulltext":true,"cited_by_count":27,"citation_normalized_percentile":{"value":0.86877046,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":99},"biblio":{"volume":"9","issue":null,"first_page":"62043","last_page":"62054"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9908000230789185,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9819999933242798,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/quadcopter","display_name":"Quadcopter","score":0.9616677761077881},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7172755599021912},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7048230767250061},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6675044298171997},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5944438576698303},{"id":"https://openalex.org/keywords/tracking-system","display_name":"Tracking system","score":0.5496245622634888},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5217077136039734},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.5029162764549255},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.48091813921928406},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4655955731868744},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.41616764664649963},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1535699963569641},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.14945584535598755},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.14751583337783813}],"concepts":[{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.9616677761077881},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7172755599021912},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7048230767250061},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6675044298171997},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5944438576698303},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.5496245622634888},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5217077136039734},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.5029162764549255},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.48091813921928406},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4655955731868744},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.41616764664649963},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1535699963569641},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.14945584535598755},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.14751583337783813},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2021.3074413","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3074413","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09409082.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:a8144e8d196e4ed19b2ba61713a66fcb","is_oa":true,"landing_page_url":"https://doaj.org/article/a8144e8d196e4ed19b2ba61713a66fcb","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 9, Pp 62043-62054 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3074413","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3074413","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09409082.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1470210521","display_name":null,"funder_award_id":"ZYGX2019J062","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G5011438156","display_name":null,"funder_award_id":"61973055","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3153450862.pdf","grobid_xml":"https://content.openalex.org/works/W3153450862.grobid-xml"},"referenced_works_count":49,"referenced_works":["https://openalex.org/W1527987541","https://openalex.org/W1955514522","https://openalex.org/W1955741794","https://openalex.org/W1964846093","https://openalex.org/W1997121481","https://openalex.org/W1998058414","https://openalex.org/W2010904712","https://openalex.org/W2031850322","https://openalex.org/W2035379092","https://openalex.org/W2060794637","https://openalex.org/W2065943074","https://openalex.org/W2111248597","https://openalex.org/W2124211486","https://openalex.org/W2139123921","https://openalex.org/W2154889144","https://openalex.org/W2171386587","https://openalex.org/W2313801535","https://openalex.org/W2398089096","https://openalex.org/W2418623400","https://openalex.org/W2470394683","https://openalex.org/W2520477759","https://openalex.org/W2558899534","https://openalex.org/W2563464808","https://openalex.org/W2613683354","https://openalex.org/W2735270199","https://openalex.org/W2772133881","https://openalex.org/W2786167419","https://openalex.org/W2790698345","https://openalex.org/W2792016338","https://openalex.org/W2792121015","https://openalex.org/W2796347433","https://openalex.org/W2804924696","https://openalex.org/W2887712192","https://openalex.org/W2889523323","https://openalex.org/W2907172124","https://openalex.org/W2908129372","https://openalex.org/W2913333570","https://openalex.org/W2924132571","https://openalex.org/W2947616598","https://openalex.org/W2962864296","https://openalex.org/W3007246627","https://openalex.org/W3099185197","https://openalex.org/W3102624093","https://openalex.org/W3125175538","https://openalex.org/W4293584584","https://openalex.org/W6680792525","https://openalex.org/W6712628398","https://openalex.org/W6730584787","https://openalex.org/W6750227808"],"related_works":["https://openalex.org/W4293056360","https://openalex.org/W4386804942","https://openalex.org/W2966028239","https://openalex.org/W2526240748","https://openalex.org/W2909947097","https://openalex.org/W2264340699","https://openalex.org/W4286283119","https://openalex.org/W2972119610","https://openalex.org/W2328321249","https://openalex.org/W2046169298"],"abstract_inverted_index":{"Tracking":[0],"a":[1,5,8,13,56,84,100,167,202,207],"maneuvering":[2],"target":[3,47,58,71,77,91,101,139,144],"with":[4,116,206],"quadcopter":[6,203],"is":[7,104,111,135,179,199],"challenging":[9],"problem,":[10],"that":[11,63],"involves":[12],"variety":[14],"of":[15,113,218],"fields":[16],"such":[17],"as":[18,72,74],"visual":[19,150],"tracking,":[20],"state":[21],"estimation,":[22],"and":[23,42,54,66,93,119,141,160,216],"control":[24],"algorithms.":[25],"Most":[26],"existing":[27],"unmanned":[28],"aerial":[29],"vehicle":[30],"(UAV)":[31],"systems":[32],"fail":[33],"to":[34,52,88,137,181],"track":[35,68],"targets":[36,45,115],"accurately":[37,67],"in":[38],"the":[39,69,75,90,130,149,176,183,187,214,219],"long":[40],"term":[41],"cannot":[43],"relocate":[44],"after":[46],"loss.":[48,142],"This":[49],"paper":[50],"aims":[51],"design":[53],"implement":[55],"vision-based":[57],"tracking":[59,102,114],"system":[60],"for":[61,201],"quadcopters":[62],"can":[64],"steadily":[65],"ground":[70],"well":[73],"air":[76],"without":[78],"any":[79],"prior":[80],"information.":[81],"We":[82],"employ":[83],"vision":[85],"detection":[86],"algorithm":[87,103,127],"select":[89],"quickly":[92],"precisely.":[94],"To":[95],"fit":[96],"complex":[97],"practical":[98],"conditions,":[99],"developed":[105,220],"based":[106,128],"on":[107,129,190],"correlation":[108],"filters,":[109],"which":[110],"capable":[112],"large-scale":[117],"variation":[118],"fast":[120],"motion.":[121],"In":[122],"addition,":[123],"an":[124,153,161,191,195],"efficient":[125],"redetection":[126],"support":[131],"vector":[132],"machine":[133],"(SVM)":[134],"designed":[136,180],"handle":[138],"occlusions":[140],"The":[143,210],"states":[145,178],"are":[146],"estimated":[147,177],"from":[148],"information":[151],"by":[152],"improved":[154],"Lucas-Kanade":[155],"(LK)":[156],"optical":[157],"flow":[158],"method":[159],"extended":[162],"Kalman":[163],"filter":[164],"(EKF).":[165],"Moreover,":[166],"double":[168],"closed-loop":[169],"Proportion":[170],"Integral":[171],"Differential":[172],"(PID)":[173],"controller":[174],"using":[175],"follow":[182],"target.":[184],"By":[185],"implementing":[186],"main":[188],"algorithms":[189],"onboard":[192],"NUC":[193],"computer,":[194],"extensive":[196],"outdoor":[197],"flight":[198],"evaluated":[200],"platform":[204],"equipped":[205],"stereo":[208],"camera.":[209],"experimental":[211],"results":[212],"validate":[213],"feasibility":[215],"practicability":[217],"system.":[221]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2}],"updated_date":"2026-07-06T08:01:05.025921","created_date":"2025-10-10T00:00:00"}
