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

CAMShift 영상 처리 기법을 이용한 기동형 경계 로봇의 목표추적 시스템

  • 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.)
  • 서봉철 (충남대학교 기계설계.메카트로닉스공학과) ;
  • 김성수 (충남대학교 메카트로닉스공학과) ;
  • 이동염 (한국타이어)
  • Received : 2013.09.03
  • Accepted : 2013.11.12
  • Published : 2014.02.01


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.


Target-Tracking Control;Stabilization Control;Mobile Surveillance Robot


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