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Development of a Real Time Visual Kite Tracking System with Focus and Zoom Control


F. Guetg

Master Thesis, FS16

Current kite power systems use a combination of measurements from line angle sensors, GPS and IMU for state estimation. Poor sensor quality often limits the control performance and therefore the power output of the overall system. In this thesis a novel visual kite tracking system that measures the kite position and heading from the ground is presented. A pan-tilt-zoom camera was designed and is actively controlled to ensure video footage of the moving kite. The kite is kept in focus by a passive auto focus. A zoom control system has been developed to keep the kite at a desired size within the video frames. The pan and tilt axis are controlled by a reference tracking linear quadratic regulator. The position and orientation of the kite are obtained from the video stream by using a vision algorithm based on the OpenCV library and Aruco markers. The visual kite tracking system has been successfully tested at lab scale. Experiments demonstrate the capability of tracking lying figure-of-eight trajectories with a period of 6 seconds and pan-tilt range of 1 and 0.3 rad respectively.

Supervisors: Eva Ahbe, Tony Wood, Nikolaos Kariotoglou, Roy Smith


Type of Publication:

(12)Diploma/Master Thesis

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2017:IFA_5665
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