Design and Implementation of Moving Object Visual Tracking System using μ-Synthesis Controller

Journal of ICT Research and Applications

Toto Indriyanto¹  Saripudin Saripudin²  Modestus Oliver Asali²  Bambang Riyanto Trilaksono² 

[1] Faculty of Mechanical and Aerospace EngineeringBandung Institute of Technology, Jalan Ganesha No. 10, Bandung 40132;School of Electrical Engineering and InformaticsBandung Institute of Technology, Jalan Ganesha No. 10, Bandung 40132;

关键词: μ-synthesis;    computer vision;    moving object tracking;    video tracker;    visual servo;   

DOI  :  10.5614/itbj.ict.res.appl.2019.13.3.1

来源: DOAJ

【 摘 要 】

Considering the increasing use of security and surveillance systems, moving object tracking systems are an interesting research topic in the field of computer vision. In general, a moving object tracking system consists of two integrated parts, namely the video tracking part that predicts the position of the target in the image plane, and the visual servo part that controls the movement of the camera following the movement of objects in the image plane. For tracking purposes, the camera is used as a visual sensor and applied to a 2-DOF (yaw-pitch) manipulator platform with an eye-in-hand camera configuration. Although its operation is relatively simple, the yaw-pitch camera platform still needs a good control method to improve its performance. In this study, we propose a moving object tracking system on a prototype yaw-pitch platform. A m-synthesis controller was used to control the movement of the visual servo part and keep the target in the center of the image plane. The experimental results showed relatively good results from the proposed system to work in real-time conditions with high tracking accuracy in both indoor and outdoor environments.

【 授权许可】

Unknown