Implementation of Face Tracking System with a Multirotor UAV

This paper presents the design and implementation of a real-time face tracking system based on a multirotor UAV platform. Since the research on implementation of UAV target tracking system lack the tracking control along depth direction in image coordinate, and the research on 3D visual servo tracking control based on state feedback controller is hard to implement, we propose to utilize the face detection module to provide with the position and size data of the target face and then track the face along 3D directions based on a modified mean shift tracking algorithm and PD controller. We implement the system using ROS, the experiment shows that the system can give an effective tracking performance while tracking a stationary target face in the designed experiment scenario.