Adaptive real-time clustering method for dynamic visual tracking of very flexible wings

Abstract

Advancements in aircraft controller design, paired with increasingly flexible aircraft concepts, create the need for the development of novel (smart) adaptive sensing methods suitable for aeroelastic state estimation. A potentially universal and noninvasive approach is visual tracking. However, many tracking methods require manual selection of initial marker locations at the start of a tracking sequence. This study aims to address the gap by investigating a robust machine learning approach for unsupervised automatic labeling of visual markers. The method uses fast DBSCAN and adaptive image segmentation pipeline with hue-saturation-value color filter to extract and label the marker centers under the presence of marker failure. In a comparative study, the DBSCAN clustering performance is assessed against an alternative clustering method, the disjoint-set data structure. The segmentation-clustering pipeline with DBSCAN is capable of running real-time at 250 FPS on a single camera image sequence with a resolution of 1088×600 pixels. To increase robustness against noise, a novel formulation (the inverse DBSCAN, DBSCAN⁻¹ ) is introduced. This approach is validated on an experimental dataset collected from camera observations of a flexible wing undergoing gust excitations in a wind tunnel, demonstrating an excellent match with the ground truth obtained with a laser vibrometer measurement system.