Object tracking by a flying drone

The goal of this thesis was to design and implement a suitable method of autonomous object tracking by a flying quadcopter with an onboard camera. Several methods of image processing and subsequent object tracking in a video stream are discussed. Afterwards, the quadcopter is studied from the perspective of a dynamical system. The knowledge gained from studying dynamical systems is utilized in the flying phase as one specific model of the dynamical system, a so called PID controller, is chosen and implemented. Then we propose a method of scale estimation of the world. We also designed a platform for an easier communication with the quadcopter