[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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78 Z. Kuś and A. Nawrat of view. This paper examines the third case exclusively. In this case it is not possible to use image processing methods [14] – [23] because of disappearing object from the picture. It is assumed that the camera is mounted under a helicopter whereas the tracked object moves on the ground. It must be also assumed that the object moves on the flat surface. In the abovementioned case a rapid gust of wind may result in losing the object from the picture streamed via communication system [33]. The helicopter position determines which part of ground is being observed. Thus the first stage of control algorithm is the return of the helicopter to the horizontal position. Next, the camera is set by the developed control algorithm to the direction defined by the last object position. For the lucidity of the work the author concentrates only on 2D space. 2 Camera Movements Correction Main elements of the algorithm are based on the basic geometrical relationships between the helicopter, camera and tracked object positions. The current object position is calculated only in the moment when pattern recognition algorithms give information that object is in the picture. This current object position is utilized when the distortion causes camera turn in a completely different direction. Figure 1 presents the assumed 2D scene. The tracked object is on a flat surface and the camera is above it. It is assumed that the helicopter flies in a position approximate to horizontal. The camera is mounted at the bottom. Fig. 1. The scheme of mounting a camera in a helicopter
Object Tracking in a Picture during Rapid Camera Movements 79 There are assumed the following terms: - the angle of deviation of a helicopter from the vertical position, - the angle of deviation of a camera from the vertical position (it is equal 0 when the camera is directed to the ground, 0 - for clockwise angles, 0 for counter-clockwise angles, maximum of is 90°), - an axis representing the helicopter and the object position connected with the ground in horizontal direction, - an axis representing the helicopter and the object position connected with the ground in vertical direction. For the object we assume that 0 which means the object is always on the ground. Fig. 2. The position of the tracked object in relation of the camera The figure 2 represents the way of determining the object position in relation to the camera and its corresponding angles. Index 1 denotes the position before distortion whereas index 2 denotes the position after distortion. As we can see in the picture distortion caused the change of position and orientation. The object position was marked herein as well. We assume that the object is on the level 0.
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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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18 A. Babiarz et al. a) b) Fig. 11.
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Omnidirectional Video Acquisition D
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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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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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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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