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

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2 Author(s)
Jean, J.-H. ; Dept. of Electr. Eng., St. John''s & St. Mary''s Inst. of Technol., Taipei, Taiwan ; Jian-Hong Lai

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.

Published in:

Mechatronics, 2005. ICM '05. IEEE International Conference on

Date of Conference:

10-12 July 2005