[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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132 S. Fraś et al. the basis of event handling. A minimum quantity of the code responsible for receiving consecutive frames, processing and showing them to the user in the application window, is located in the main loop of the program. The remaining operations are carried out by pressing one of available buttons or in response to meeting certain conditions specified by programmer himself. Fig. 8. The application window A large part of the work was based on exploiting ready-made functions serving the purpose of the image processing. The whole process of the calibration of the cameras is carried out based on the OpenCV [8] library. It provides both, simple to implement functions realising real time video processing, as well as the mecha- nisms that are used to calibrate the cameras and straightening of distorted images. Since the application is written in C#, EmguCV [9] library has to be used. Em- guCV is a cross platform .Net wrapper to the OpenCV image processing library. The calibration requires directing the camera at an object with a known shape and a characteristic pattern, in order to find the calibration of the parameters of distor- (chessboard) was used. Captured samples should contain about thirty images of tion by use of certain functions. A pattern of alternating black and white squares the chessboard in various positions. The CameraCalibration.FindChessboardCorners(…) function is used to find coordinates of the chessboard corners in the currently processed frame. Because these points are only approximated, the utilization of CvInvoke.cvFindCorner SubPix(…) function, which computed the exact location of the corners, was necessary.
Omnidirectional Video Acquisition Device (OVAD) 133 The next step is the visualisation of achieved results. CameraCalibration. DrawChessboardCorners(…) function was used to draw the chessboard corners on the samples. Those samples can be seen in the list of figures, which is on the left side of the application (Fig. 9). Despite showing samples is not necessary, it can be helpful with determining if the corners were found correctly. Fig. 9. Process of calibration and undistortion
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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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20 A. Babiarz et al. patrol point i
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22 A. Babiarz et al. particular ang
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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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Object Tracking in a Picture during
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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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212 M. Mellado and K. Skrzypczyk wh
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214 M. Mellado and K. Skrzypczyk Fi
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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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276 A. Nawrat et al. have an embedd
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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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