Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
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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
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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.

기동형 경계 로봇의 목표 추적 시스템은 효율적인 경계 임무를 수행하는데 있어서 중요한 부분이다. 본 논문은 영상 장치를 포함한 3 축 기동형 경계로봇의 영상 정보를 이용한 목표 추적 알고리즘을 제안하였다. 제안된 목표추적 알고리즘에서는 카메라 영상의 중심과 카메라 영상으로 포착된 목표물 중심 사이의 위치 에러를 이용하여 영상 장치의 목표 지향 벡터를 획득하였으며, 위치 에러를 획득하기 위하여 영상 처리 기법 중 하나인 CAMShift(Continuously Adaptive Mean Shift) 알고리즘을 적용하였다. 최종적으로, 목표 추적 알고리즘을 실험 모델에 적용해 봄으로써 실제 실험 환경에서의 목표 추적 알고리즘의 적용 타당성을 검증하였다.

Keywords

References

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