IEEE - Aerospace and Electronic Systems - July 2022 - 34

A Vision-Based Guidance Algorithm for Entering Buildings Through Windows for Delivery Drones
Table 1.
Qualitative Evaluation of Six OpenCV Trackers
Tracker
Speed Long time
tracking
KCF [23]
MIL [24]
OK
-
MOSSE [25] OK
GOTURN [26] -
CSRT [27]
-
Median
flow [28]
OK
OK
OK
-
OK
OK
OK
Drift
robustness
OK
OK
OK
OK
OK
-
Scale change
tolerance
-
-
-
-
-
OK
Robustness against
appearance change
OK
OK
-
OK
OK
OK
" Guidance " addresses the guidance algorithms, followed by
the section " Experimental Evaluation. " Finally, we give the
" Conclusion. "
ENTERING THROUGH WINDOW-OVERVIEW
For a fully autonomous delivery, the customer, or anyone
expecting to receive the vehicle or its payload, has to provide
some prior information for the robot. This includes an image
ofthe target building as well as the location ofthe target window
in the building facade. Note that we have introduced a
vision-based method for detecting and confirming the customer-determined
building as well as the target window in a
separate manuscript [29]. Here, in this article, the mission is
assumed to be started in front of the intended building; then,
the steps demonstrated in Figure 2 take over, up until a successful
entrance is accomplished.
At the start, an approximate position of the window
must be specified in the image manually. The selected box
of the image should be tracked between the next image
frames. To ensure accuracy and safety, the following
requirements are to be met for the tracking algorithm:
higher speed than detecting objects per frame;
drift robustness to avoid deviation from the window;
autoscaling, so that the dimensions of the tracking
box change proportionally as the object moves
closer or farther away from the camera;
tracking failure report, so that the algorithm could
trigger a redetection function.
Initially, we tested six out-of-the-box tracking algorithms,
implemented in OpenCV, in simulation and reality.
Table 1 demonstrates a qualitative comparison of
these algorithms in terms of common tracking requirements.
Given the aforementioned requirements and based
34
Figure 2.
Window entrance mission overview.
IEEE A&E SYSTEMS MAGAZINE
JULY 2022
on the preliminary tests and observations, it is revealed
that the Median Flow tracker is the most suitable among
the other trackers and, therefore, served as the basis for
the algorithm development in this study.
Hereafter, tracking is coupled with MAV approach to the
intended window until a certain distance from the window is
achieved. A steering guidance is responsible for the approaching
phase, better described in the " Guidance " section. The

IEEE - Aerospace and Electronic Systems - July 2022

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