Design and implementation of a visual servo system for aerial surveillance applications based on shape features

In this paper we present the development of a visual servo system for real-time and automatic aerial surveillance applications. The system can automatically detect the shape contours of objects within a scene and control the camera to track a target object centered at the image plane based on shape...

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Bibliographic Details
Main Authors: Jong-Hann Jean, Jian-Hong Lai
Format: Conference Proceeding
Language:English
Subjects:
Automatic control
Cameras
Control systems
Layout
Object detection
Real time systems
Servomechanisms
Shape control
Surveillance
Target tracking
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Summary:In this paper we present the development of a visual servo system for real-time and automatic aerial surveillance applications. The system can automatically detect the shape contours of objects within a scene and control the camera to track a target object centered at the image plane based on shape features. The system consists of a robust shape detection algorithm based on the randomized Hough transform (RHT) method, an adaptive object tracking algorithm, a probability data association (PDA) prediction filter and a fuzzy visual servo controller. We also establish a testbed to mimic the aerial surveillance environment and provide experimental results to verify the validity of the designed system.
DOI:10.1109/ICMECH.2005.1529293