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http://dx.doi.org/10.3795/KSME-A.2014.38.2.129

Target-Tracking System for Mobile Surveillance Robot Using CAMShift Image Processing Technique  

Seo, Bong-Cheol (Graduate School of Mechanical Design.Mechatronics Engineering, Chungnam Nat'l Univ.)
Kim, Sung-Soo (Dept. of Mechatronics Engineering, Chungnam Nat'l Univ.)
Lee, Dong-Youm (Hankook Tire Co., Ltd.)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.38, no.2, 2014 , pp. 129-136 More about this Journal
Abstract
Target-tracking systems are important for carrying out effective surveillance missions using mobile surveillance robots. In this paper, we propose a target-tracking algorithm using camera image data for a three-axis mobile surveillance robot and carry out an actual hardware test for verifying the proposed algorithm. The heading direction vector of a camera system is deduced from the position error between the viewfinder center and the object center in a camera image. The position error is obtained using the CAMShift(Continuously Adaptive Mean Shift) algorithm, an image processing technique. The performance test of an actual three-axis mobile surveillance robot was carried out for verifying the proposed target-tracking algorithm in a real environment.
Keywords
Target-Tracking Control; Stabilization Control; Mobile Surveillance Robot;
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