[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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64 Z. Kuś and A. Nawrat 90° arctan (2.1) 90° arctan (2.2) Fig. 7. Camera rotation angles and location in a projection on the S plane after the correction on the (x,y) plane In the next step the correction angles and are computed. The camera must be turned at these angles. These angles are calculated as shown in the equation (3). (3) 3 Helicopter Dynamics Modeling in 3D Space In order to check the correctness of the developed algorithm the simplified dynamic helicopter model is used. It indicates how distortion affects the helicopter position and orientation in 3D space. Hence the first order lag element represents the aforementioned properties. It is possible when the results shown in [8,9,10,11,12,13] and flight controllers are taken into account. Moreover, the camera heads dynamics was defined by the first order lag for both directions of rotation. It must be assumed that the camera movements are faster than the helicopter reactions on the control signal. It must be assumed that the helicopter movements are faster than tracked object movements.
Object Tracking for Rapid Camera Movements in 3D Space 65 Figure 8 represents the model of helicopter dynamics for 3D space. It must be assumed that the trajectory control system ensures flight along a set trajectory. Therefore the following transfer functions denoting helicopter behavior are proposed: - transfer function for distortion in axis - transfer function for distortion in axis - transfer function for distortion in axis $z$ - transfer function for distortion which results in helicopter rotation in a vertical plane. - transfer function for distortion which results in helicopter rotation in the horizontal plane. Fig. 8. The helicopter dynamic model for particular control loops in 3D space Figure 9 shows the camera head control system. The goal of this control system is to compute the required set values for and variables. This signal allows to set camera direction to the object regardless of the helicopter position. The first block computes the position of the object , on the basis of the distance and the camera position. The influence of the helicopter rotations on the (x, y) plane and on an plane on the camera is defined as an adder. The
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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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116 D. Bereska et al. Presented in
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118 D. Bereska et al. Fig. 2. Image
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120 D. Bereska et al. Fig. 4. Ortho
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Omnidirectional Video Acquisition D
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Part III Design of Vision Based Con
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Vision System for Group of Mobile R
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A Distributed Control Group of Mobi
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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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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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