[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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76 Z. Kuś and A. Nawrat [32] Iwaneczko, P., Jędrasiak, K., Daniec, K., Nawrat, A.: A prototype of unmanned aerial vehicle for image acquisition. In: Bolc, L., Tadeusiewicz, R., Chmielewski, L.J., Wojciechowski, K. (eds.) ICCVG 2012. LNCS, vol. 7594, pp. 87–94. Springer, Heidelberg (2012) [33] Jędrasiak, K., Nawrat, A., Wydmańska, K.: SETh-link the distributed management system for unmanned mobile vehicles. In: Nawrat, A., Simek, K., Świerniak, A. (eds.) Advanced Technologies for Intelligent Systems. SCI, vol. 440, pp. 247–256. Springer, Heidelberg (2013) [34] Nawrat, N., Kozak, K., Daniec, K., Koteras, R.: Differential navigation for UAV platforms with mobile reference station. In: Proceedings of the International Conference on Applied Computer Science, pp. 465–471 (2010) [35] Kozak, K., Koteras, R., Daniec, K., Nawrat, A.: qB-Distributed real time control system in UAV design. In: Proceedings of the 13th WSEAS International Conference on Systems, pp. 185–189 (2009)
Object Tracking in a Picture during Rapid Camera Movements Zygmunt Kuś and Aleksander Nawrat Abstract. Unmanned aerial vehicles (UAV) are very useful platforms for detecting and tracking objects which are located on the ground. The crux of the considered problem is the tracked object which disappears from a field of view. The above mentioned may be caused by rapid camera movements. One of the examples of such a situation is the camera being attached to helicopter. In case of sudden gust of wind a helicopter trajectory can be considerably and rapidly changed. This results in losing tracked object from the picture we get from the camera. The fundamental idea of the solution, which was presented here in, was based on additional data concerning camera orientation and location. Moreover the distance of a tracked object from the camera is also utilized to correct camera movements. 1 Introduction Unmanned aerial vehicles (UAV) are very useful platforms for detecting and tracking objects which are located on the ground. There are many solutions of an object tracking problem which are based on image processing methods [1,2,3,4,5,6,7]. UAV behavior depends on the weather and type [32]. One of the problems may be rapid changes of wind and gusts. The following paper describes the problem of a tracked object which disappears from a field of view. There are three reasons which may cause this problem. Firstly, the object moves faster than the tracking camera head. Secondly, a pattern recognition algorithm has a fault and as a result it does not recognize the object. Finally, external distortion changes the position of the camera in the way that the object is out of the range of the field Zygmunt Kuś ⋅ Aleksander Nawrat Silesian University of Technology, Institute of Automatic Control, Akademicka 16, 44-101 Gliwice, Poland e-mail: {zygmunt.kus,aleksander.nawrat}@polsl.pl Aleksander Nawrat Ośrodek Badawczo-Rozwojowy Urządzeń Mechanicznych “OBRUM” sp. z o.o., ul. Toszecka 102, 44-117 Gliwice, Poland e-mail: anawrat@obrum.gliwice.pl A. Nawrat and Z. Kuś (Eds.): Vision Based Systems for UAV Applications, SCI 481, pp. 77–91. DOI: 10.1007/978-3-319-00369-6_5 © Springer International Publishing Switzerland 2013
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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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XX List of Contributors Józef Wron
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2 Design of Object Detection, Recog
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Prototyping the Autonomous Flight 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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