Single Horizontal Camera-Based Object Tracking Quadcopter Using StaGaus Algorithm

This research is a solution to the problem of a hardware platform of object tracking drones. This platform can be used to build further advancements such as selfie drones, follow-me drones for adventure sports and robot pets. StaGaus algorithm has been derived using first principles and is compared against standard algorithms like SRDCF. The algorithm is tested on, an on-board two Android phones for real-time telemetry. This paper demonstrates that StaGaus works even on memory- and performance-constrained devices. In order to standardise the development of object tracking drones’ algorithms, we have built a customised ROS-based Gazebo simulator from scratch. This simulator is capable of simulating multiple robots of multiple types. This uses actual physics Open Dynamics Engine which has been compared against the existing simulators. Finally, as a by-product, this design proved that the cost of the proposed physical quadcopter is low.