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<p>In the tracking of a moving ground target by small unmanned air vehicle (UAV) via camera vision, the target  position and motion cannot be measured directly. Two different types of filters were assessed for their ability to estimate  target motion, namely target velocity, directional heading on flat ground and distance from the UAV to target. The first  filter is a nonlinear deterministic filter with stability guarantee. The second filter is based on nonlinear Kalman Filter  technique. The application and performance of these two filters are presented, for simulated vision based target  tracking.
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<br>Subjects: Cameras; Drone aircraft; Mathematics; Mechanical engineering</div>
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Quek, Chin Khoon.</div>
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