[Studies in Computational Intelligence 481] Artur Babiarz, Robert Bieda, Karol Jędrasiak, Aleksander Nawrat (auth.), Aleksander Nawrat, Zygmunt Kuś (eds.) - Vision Based Systemsfor UAV Applications (2013, Sprin

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126 S. Fraś et al. (a) barrel distortion (b) pincushion distortion (c) moustache distortion Fig. 2. Types of radial distortion Distortion is very common aberration and can be corrected using software methods. Optical systems, which are free of distortion are called orthoscopic. 4 Hardware Hardware part consist of all parts and elements of OVAD project that are connected with video acquisition and transmission of captured PAL signal to receiver (frame grabber followed by PC). Implementation of hardware required choosing adequate cameras and creating multiplexing unit, used to select two from six incoming PAL signals and forwarding them to transmission line. 4.1 Cameras Video recorders used in OVAD project are pcb board cameras ACE-S110CHB (fig. 3), which are capturing RGB image with resolution of 480 lines, using Sony 1/3’’ Super HAD CCD sensor. Fig. 3. ACE-S110CHB camera
Omnidirectional Video Acquisition Device (OVAD) 127 Table 1. presents selected camera parameters. Choice of these particular cameras is justified by small size of cameras together with relatively high resolution, which stands for quality of captured image. Parameter, which is worth to be considered is angle of camera horizontal view. Required minimum is 60 degrees, because all six cameras shall create a possibility to capture 360° of horizontal field of view. Because of distortion correction, which at most cases means losing some edge parts of image, horizontal field of view of a single camera wider than 60° is highly recommended. Table 1. Cameras specifications given by manufacturer TV standard NTSC/PAL Sensor Sony 1/3’’ Super HAD CCD Number of lines 480 TVL Sensitivity 1 [lux] (F=2.0) Lens 3.6 [mm] (74° HFOV 1 ) Signal-to-Noise Ratio more than 45 [dB] Gamma correction 0.45 Video output composite 1 (vp-p) 75Ω Supply voltage 12 [V] Current consumption 140 [mA] Allowable working from -10 to +50 [°C] temperature Dimensions 35x35 [mm] Orientation of cameras provides 360° horizontal field of vision. Placed in hexagon-shaped Plexiglas® frame cameras are presented in fig. 4. Fig. 4. Orientation of cameras 1 HFOV – horizontal field of view.
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Studies in Computational Intelligen
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Aleksander Nawrat · Zygmunt Kuś E
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“In God We Trust, All others we o
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VIII Preface valuable information i
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Contents Part I: Design of Object D
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Contents XIII Technology Developmen
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XVI List of Contributors Adam Czorn
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XVIII List of Contributors Henryk M
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XX List of Contributors Józef Wron
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2 Design of Object Detection, Recog
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4 A. Babiarz et al. 1 Introduction
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6 A. Babiarz et al. The description
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8 A. Babiarz et al. a) b) Fig. 5. T
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10 A. Babiarz et al. o o o “micvo
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12 A. Babiarz et al. a) b) Fig. 7.
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14 A. Babiarz et al. • The camera
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16 A. Babiarz et al. the camera ser
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18 A. Babiarz et al. a) b) Fig. 11.
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24 A. Babiarz et al. The sample cod
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Recognition and Location of Objects
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48 P. Demski et al. Fig. 1. Automat
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50 P. Demski et al. E-Grip firing m
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52 P. Demski et al. 4 Automatic Tar
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54 P. Demski et al. implementing su
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Object Tracking for Rapid Camera Mo
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178 D. Bereska et al. The aim of th
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180 D. Bereska et al. 3 Control Alg
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182 D. Bereska et al. Fig. 5. Schem
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184 D. Bereska et al. 4.1 Mechanica
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186 D. Bereska et al. 4.1.3 Open-Lo
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188 D. Bereska et al. Fig. 16. Comp
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Probabilistic Approach to Planning
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206 Practical Applications of Class
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208 M. Mellado and K. Skrzypczyk an
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210 M. Mellado and K. Skrzypczyk a
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216 M. Mellado and K. Skrzypczyk 6
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Prototyping the Autonomous Flight A
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Feature Extraction and HMM-Based Cl
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248 K. Daniec et al. In this articl
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250 K. Daniec et al. Fig. 2. Applic
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252 K. Daniec et al. by the ability
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254 K. Daniec et al. The idea of us
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Selection of Individual Gait Featur
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274 A. Nawrat et al. alia weather c
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278 A. Nawrat et al. particular cha
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280 A. Nawrat et al. • 1-phase el
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282 A. Nawrat et al. The phase cond
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284 A. Nawrat et al. Table 1. Compa
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286 A. Nawrat et al. P3 P3 P3 71101
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288 A. Nawrat et al. S, VA 4,510 4,
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290 A. Nawrat et al. Comparison dif
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Technology Development of Military
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312 A. Czornik, A. Nawrat, and M. N
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328 M. Koźlak, A. Kurzeja, and A.
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344 Conclusions Control algorithms
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[Studies in Computational Intelligence 481] Artur Babiarz, Robert Bieda, Karol Jędrasiak, Aleksander Nawrat (auth.), Aleksander Nawrat, Zygmunt Kuś (eds.) - Vision Based Systemsfor UAV Applications (2013, Sprin

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