[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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134 S. Fraś et al. Fig. 10. Distorted (a) and undistorted (b) chessboard Pressing the Calibration button is possible only after capturing specific amount of samples containing the chessboard. It calls a function of camera calibration, which straightens video stream, using determined calibration parameters. The parameters are exploited to create a map of distortion, which serves proper straightening of the received video streams (fig. 10) the corners taken before, de- termines the external and internal Fig. 11. Combined video streams, in 2D (a) and 3D (b) The second important library used in the creating of the program was OpenGL, a graphic library well known by people dealing with computer games graphics. The use of this library created a possibility to display acquired video streams in a three-dimensional space, which in turn solved, to a large extent, the problem of joining the streams captured by adjacent cameras. That problem is a result of the fact, that each camera observes its surroundings from different angle, so the same object captured by two adjacent cameras has different shape (Fig. 11). Elements of the library created a possibility of placing an observer inside virtual hexagon- shaped room, and displaying the image registered by the cameras on its walls. This way the angle, at which cameras could see their surroundings, was also the angle of view of the observer. OpenTK [10] library, which is an equivalent of OpenGL library in C# language, was used to implement this mechanism.
Omnidirectional Video Acquisition Device (OVAD) 135 Due to the fact, that it is very difficult to flawlessly place cameras in a frame so that they are all perfectly at the same height, a slider, seen at the left side of the displayed image (fig. 8), was implemented, enabling lifting or lowering of the image for each camera separately. Furthermore, below the image, there are sliders providing the possibility of shifting the edge of the image for a selected camera. Their role is to narrow the image from the right or left side. The necessity for such an intrusion in the image arises when parts of the registered objects are doubled in streams captured by two adjacent cameras. It means that the object is as far from the cameras as to fit in the visual fields of both the cameras. There exists only one such distance from both of the cameras, when fields of vision of cameras will intersect and the observed object will be perfectly composed (Fig. 12). Fig. 12. Cameras visual fields Use of the above elements and mechanisms fulfilled the functionalities desired to be delivered by application. It is possible to capture real time view in the entire sphere around the device, taking relatively short time to access the video stream from a selected direction. The implementation of the function, collecting the images from adjacent cameras, made it possible to create an uninterrupted video panorama, in which the places, where the successive images join, can hardly be seen. 6 Summary Implemented device can be found as useful in wide area of contemporary industry. Firstly, because of its small size and weight OVAD can be mount on various unmanned vehicles. General purpose of overall project was creation of device that would be used on UAV (Unmanned Aerial Vehicle), as an alternative to widely used rotating cameras. Another example of utilization may be using OVAD as inspection probe camera, e.g. in supervising of mine shafts or wells. Device may be also useful in all kinds of CCTV (closed-circuit television). OVAD has a few advantages over another solutions like mentioned rotating cameras:
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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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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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Object Tracking in a Picture during
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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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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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278 A. Nawrat et al. particular cha
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280 A. Nawrat et al. • 1-phase el
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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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Technology Development of Military
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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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