TAILIEUCHUNG - Real-time visual tracking and remote control application for an aerial surveillance robot

This paper studied a real-time visual tracking and remote controlling application for an aerial surveillance robot. An automatic aerial surveillance has an intrinsic problem because it is hard to follow a designated target without its relative position information. | Journal of Automation and Control Engineering Vol. 3, No. 6, December 2015 Real-Time Visual Tracking and Remote Control Application for an Aerial Surveillance Robot Yeungkwon Woo, Seyoung Kim, and Eunjin Koh Agency for Defense Development, Daejeon, Republic of Korea Email: {wyk921, dontechman71, eikoda}@ the visual surveillance is regarded as the most important mission. This paper proposes the real-time visual tracking and remote controlling application for aerial surveillance robot. In case of aerial surveillance, the problem is hard to follow the designated target because of the lack of the relative position information between the target and the robot. Furthermore, aerial robot is difficult for flying indoor without GPS information. Because of the problems, the image sensing device can make the aerial robot keep target under the surveillance using proposed application. The application satisfies to solve the problems in real-time, which mean online controlling with flying. In our application, a correlation filter based visual tracking algorithm is processed on server side. Simultaneously, aerial robot takes the remote control command as client side through Wi-Fi access. Using both sides of application, the aerial robot achieves the mission for surveillance scenario. Because of aerial moving scenario, PNG (Proportional Navigation Guidance) is used for the mission. The application is implemented by using C/C++ source code based AR-Drone SDK. The experimental result shows performance in real time. The paper is organized as follow. Section II shows the composition of the proposed real-time application system. Section III mainly describes the visual tracking algorithm. Section IV presents PNG control and our aerial surveillance scenario. Section V explains experimental results with tracking image and ground truth. In the last section VI, we remark conclusions about our application. Abstract—This paper studied a real-time visual tracking and remote .

• Cơ khí - Chế tạo máy
• Journal of Automation and Control Engineering
• Real time visual tracking
• Remote control application
• Aerial surveillance robot
• Relative position information
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