[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

Recognition and Location of Objects in the
Visual Field of a UAV Vision System
Robert Bieda, Krzysztof Jaskot, Karol Jędrasiak, and Aleksander Nawrat
Abstract. The aim of this methodology is a creation of a tool which would be able
to construct a system for obtaining information about objects in the environment
of the vision system. This task is often defined as a sub-task in the primary problem
of the automatic task completion by the independent UAV unit using visual
information. These researches concerned the construction of the algorithm that
would allow the location of objects in the image, identification of these objects by
classifying them into appropriate (previously declared) class, and then sending
information about the sought-after object / objects to the actuator control module.
1 Detection of Objects in the Image
The first step aimed at detecting the object(s) in the surrounding field of the camera
view is carrying out the image segmentation. The video camera could be
mounted under an UAV [12] and controlled by micro navigation system [10] via
communication system with multiple mobile vehicles [11]. Operator using the
UAV in order to acquire aerial images requires real time image processing. Therefore
the main requirement for practical image processing algorithms is the time of
execution [13]. Image segmentation allow to distinct the areas representing different
elements of the analyzed scene. To achieve this purpose, there was used a
simple operation involving the segmentation of individual pixels assigned to one
of two predefined classes: the background or the object. The process of classification
of individual points is made based on the brightness level of the individual
points. The value of the brightness of a point is compared with the value of the
Robert Bieda ⋅ Krzysztof Jaskot ⋅ Karol Jędrasiak ⋅ Aleksander Nawrat
Silesian University of Technology, Institute of Automatic Control,
Akademicka 16, 44-101 Gliwice, Poland
e-mail: {robert.bieda,karol.jedrasiak,krzysztof.jaskot,
anawrat}@polsl.pl
A. Nawrat and Z. Kuś (Eds.): Vision Based Systems for UAV Applications, SCI 481, pp. 27–45.
DOI: 10.1007/978-3-319-00369-6_2 © Springer International Publishing Switzerland 2013