[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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82 Z. Kuś and A. Nawrat 3 The Modeling of the System for Tracking Algorithms Testing for a Dynamic Helicopter Model In order to check the correctness of the developed algorithm the dynamic helicopter model is used. It is not a complete helicopter model. It shows how distortion affects the helicopter position and orientation. First order lag element represents this 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 head dynamics was defined by first order lag. It must be assumed that the camera movements are faster than the reactions of helicopter on control signal. It must be assumed that the helicopter movements are faster than tracked object movements. Figure 5 represents the model of helicopter dynamics. It is assumed that the trajectory control system ensures flight along set trajectory [25, 26]. Fig. 5. The helicopter dynamic model for particular control loops Therefore the following transfer functions denoting helicopter behavior are proposed: - transfer function for distortion in axis (4)
Object Tracking in a Picture during Rapid Camera Movements 83 - transfer function for distortion in axis (5) - transfer function for distortion which results in helicopter rotation. (6) Figure 6 shows camera head control system. The aim of this control system is to compute required set value for variable. 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 d and camera position. The next block is Key1 closed for 0 which means the object is in the center of the camera picture. Mem block remember current value of computed . Required set camera angle is calculated on the basis of the camera and object positions. It allows to set camera direction to the object. The block after the adder is block Key2 which is closed for 0 which means the object is out of the center of the picture. Transfer function denotes the dynamics of camera head. It is as follows: ·1 (7) The first order lag denotes inert properties and integrator denotes the motor. Fig. 6. Camera head control system 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 the object is out of the center of the picture.
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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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16 A. Babiarz et al. the camera ser
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18 A. Babiarz et al. a) b) Fig. 11.
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20 A. Babiarz et al. patrol point i
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22 A. Babiarz et al. particular ang
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24 A. Babiarz et al. The sample cod
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Recognition and Location of Objects
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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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278 A. Nawrat et al. particular cha
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280 A. Nawrat et al. • 1-phase el
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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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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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