Object Tracking in a Picture during Rapid Camera Movements

Kuś, Zygmunt; Nawrat, Aleksander

doi:10.1007/978-3-319-00369-6_5

Cited by 12 publications

(3 citation statements)

References 15 publications

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“…In addition, the real object is equipped with camera for object-tracking. In future works, we plan to test algorithms of recognition tracking objects [19,20,21].…”

Section: Discussionmentioning

confidence: 99%

Extended Modeling of Vertical Axis Motion Dynamics of VTOL Vehicle

Janusz

Czyba

Szafranski

et al. 2015

AMM

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Development of a reliable high-performance multirotor unmanned aerial vehicle (UAV) requires an accurate and practical model of the vehicle dynamics. This paper describes the process and results of the dynamic modeling of an unmanned aerial platform known as quadrotor. To model a vehicle dynamics, elementary physical and aerodynamical principles has been employed. Parameter estimations, from a UAV design have been obtained through direct and indirect measurements. In addition to standard configuration of VTOL (Vertical Take-Off and Landing) platform, the amortized landing gear, modeled as spring-damper system, has been added. The resulting model has been implemented in a simulation environment under MATLABs toolbox, SIMULINK. Some numerical results are presented to illustrate response of the open loop system to specific commands.

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“…In addition, the real object is equipped with camera for object-tracking. In future works, we plan to test algorithms of recognition tracking objects [19,20,21].…”

Section: Discussionmentioning

confidence: 99%

Extended Modeling of Vertical Axis Motion Dynamics of VTOL Vehicle

Janusz

Czyba

Szafranski

et al. 2015

AMM

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“…Basic assumptions, which refer to geometrical relations for the examined problem, were elaborated in [17,18].…”

Section: The Geometrical Variables Defining the Location And Orientatmentioning

confidence: 99%

Analysis of dynamical properties of object tracking system elements

Kuś

2016

Bulletin of the Polish Academy of Sciences Technical Sciences

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Abstract. The goal of this paper was to determine necessary dynamical conditions for the object tracking task. Developing these conditions required examining dynamical relationships between the UAV, camera head, disturbances and tracked object. This analysis was conducted in order to assess whether a given UAV-camera head set was suitable for a given object tracking task. The study assumed that the UAV was equipped with a flight trajectory control system. We discussed the methods of the dynamical properties description and finding a range of application for a particular set "UAV-camera head". For each dynamical element of the examined system, we proposed a method of computing the parameters of the simulation model which corresponded to the behaviour of the real elements. In order to describe the range of the applications for the UAV-camera head set, we defined the space Ω -all combinations of the parameters which characterized the dynamics of the disturbance and object. Moreover, this study developed the method of selecting the subspace Ω s which described acceptable parameters of the object՚s and disturbance՚s dynamics. This paper presented the example of proper object tracking in the case of meeting the dynamical conditions and the example of losing the object in the opposite case.Key words: unmanned aerial vehicles, object tracking, control system, dynamical model. On the one hand, the constantly growing use of applications results in greater and diverse requirements for a camera equipped UAV. On the other hand, the greater development of technical abilities of UAVs, camera heads and cameras increases the possibility of choosing the UAV-camera head set which is better suited for a given task, e.g. tracking, supervision or supporting other civil or military activities. Analysis of dynamical propertiesTherefore, it is of utmost importance to establish the criteria and methods of the equipment selection for the tasks which are to be done. The criteria may take into consideration various requirements such as: the flying range of the UAV, the ability to work not being noticed by a tracked object or to work in difficult atmospherical conditions, the cost of operation, the ability to store the data collected during the flight or other criteria.We will focus on adjusting the possessed equipment to a task which must be carried out. The only criteria which we are going to take into account, are dynamical properties.Hence the goal of the paper will be to determine the dynamical properties of the task (the dynamics of disturbance and a tracked object) which may be correctly carried out by a given UAV-camera head set. This goal will be achieved in two steps. Firstly, we will present the method which will allow to model dynamical properties of a UAV, camera head, disturbances and a tracked object in the scope indispensable for a given task. Secondly, we will put forward the method of describing the dynamical properties of the tracking task on account of the dynamical properties of the tracked object and disturbance.

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“…One of the main issues associated with this problem is the problem of tracking objects in image sequences. For a human it is considered a simple task, but for machine it is rather a complicated process because of the need for the extraction of the data from the image [1][2][3].…”

Section: Introductionmentioning

confidence: 99%

An Evaluation of SETh—The Method for Long-Term Feature Tracking

Jędrasiak

Nawrat

2015

Studies in Systems, Decision and Control

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The chapter presents a novel long-term object tracking method called SETh. It is an adaptive tracking by detection method which allows near real-time tracking within challenging sequences. The algorithm consists of three stages: detection, verification and learning. In order to measure the performance of the method a video data set consisting of more than a hundred videos was created and manually labelled by a human. Quality of the tracking by SETh was compared against five state-of-the-art methods. The presented method achieved results comparable and mostly exceeding the existing methods, which proves its capability for real life applications like e.g. vision-based control of UAVs.

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Object Tracking in a Picture during Rapid Camera Movements

Cited by 12 publications

References 15 publications

Extended Modeling of Vertical Axis Motion Dynamics of VTOL Vehicle

Extended Modeling of Vertical Axis Motion Dynamics of VTOL Vehicle

Analysis of dynamical properties of object tracking system elements

An Evaluation of SETh—The Method for Long-Term Feature Tracking

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