[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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66 Z. Kuś and A. Nawrat position of the object is calculated from (1). The next block is Key1 closed for 0 which means that the object is in the center of the camera picture. Block Mem remembers the current value of computed . The required set camera angle is calculated on the basis of the camera and object positions. It allows to set camera direction towards the object. Firstly, we calculate the angle of the set values. The block after the adder is the Key2 block which is closed for 0. It means the object is out of the center of the picture. Transfer function denotes the dynamics of the camera head and it is equal (4) for the rotation in the (x, y) plane and 3 for the rotation in the S plane. ·1 (4) ·1 (5) The first order lag denotes inert properties while the integral denotes the motor. Fig. 9. The camera head control system
Object Tracking for Rapid Camera Movements in 3D Space 67 This way we obtain correct measurement of the object position. We measure it only if the object is in the center of the picture. However, the control signal changes the camera position only if the object is out of the center of the picture. 4 Examples of Tracking Algorithms Operation in the Presence of Disturbances In 3D space the possibilities of various disturbances occurrence are significantly increased. These changes of helicopter position in the horizontal and vertical plane impact on the camera position. What is more, distortion in the form of the helicopter rotation has an impact on the camera rotation in two rotation axes ((x, y) and S planes). Figure 10 represents the situation after distortion when the helicopter changes its position only in the (x, y) plane where . The helicopter with the camera moves between the points, in projection on the (x. y) plane, and at the same time it goes around the object. Fig. 10. The camera position during disturbance in the form of the helicopter position changes in the (x,y) plane
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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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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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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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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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