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

The Korean Society of Mechanical Engineers (대한기계학회)
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Verification of Camera-Image-Based Target-Tracking Algorithm for Mobile Surveillance Robot Using Virtual Simulation

가상 시뮬레이션을 이용한 기동형 경계 로봇의 영상 기반 목표추적 알고리즘 검증

  • Lee, Dong-Youm (Graduate School of Mechanical.Mechanical Design.Mechatronics Engineering, Chungnam Nat'l Univ.) ;
  • Seo, Bong-Cheol (Graduate School of Mechanical.Mechanical Design.Mechatronics Engineering, Chungnam Nat'l Univ.) ;
  • Kim, Sung-Soo (Dept of Mechatronics Engineering, Chungnam Nat'l Univ.) ;
  • Park, Sung-Ho (Dodaam Systems)
  • 이동염 (충남대학교 기계.기계설계.메카트로닉스공학과) ;
  • 서봉철 (충남대학교 기계.기계설계.메카트로닉스공학과) ;
  • 김성수 (충남대학교 메카트로닉스공학과) ;
  • 박성호 ((주)도담시스템스)
  • Received : 2012.07.23
  • Accepted : 2012.08.03
  • Published : 2012.11.01
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Abstract

In this study, a 3-axis camera system design is proposed for application to an existing 2-axis surveillance robot. A camera-image-based target-tracking algorithm for this robot has also been proposed. The algorithm has been validated using a virtual simulation. In the algorithm, the heading direction vector of the camera system in the mobile surveillance robot is obtained by the position error between the center of the view finder and the center of the object in the camera image. By using the heading direction vector of the camera system, the desired pan and tilt angles for target-tracking and the desired roll angle for the stabilization of the camera image are obtained through inverse kinematics. The algorithm has been validated using a virtual simulation model based on MATLAB and ADAMS by checking the corresponding movement of the robot to the target motion and the virtual image error of the view finder.

본 논문은 3 축 영상 장치를 기존의 2 축 경계 로봇에 적용하는 설계안을 제시하고 이러한 기동형 경계 로봇의 영상 정보를 이용한 목표 추적 알고리즘을 제안하였다. 또한 가상 시뮬레이션을 이용하여 목표 추적 알고리즘을 검증하였다. 목표추적 알고리즘에서는 카메라 영상의 중심과 카메라 영상으로 포착된 목표물 중심 사이의 위치 에러를 이용하여 영상 장치의 목표 지향 벡터를 획득하고, 역기구학을 이용하여 획득한 목표 지향 벡터를 생성해 낼 수 있는 기동형 경계 로봇의 팬, 틸트 회전 요구 각도와 카메라 영상의 안정화를 위한 롤 회전 요구각도를 계산하였다. MATLAB 과 ADAMS 를 이용하여 기동형 경계 로봇의 가상 모델을 생성하고, 가상의 목표물의 움직임에 대한 가상 모델의 운동을 확인하여 영상 기반의 목표 추적 알고리즘을 검증하였다.

Keywords

References

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Cited by

  1. Target-Tracking System for Mobile Surveillance Robot Using CAMShift Image Processing Technique vol.38, pp.2, 2014, https://doi.org/10.3795/KSME-A.2014.38.2.129
  2. Test of Vision Stabilizer for Unmanned Vehicle Using Virtual Environment and 6 Axis Motion Simulator vol.39, pp.2, 2015, https://doi.org/10.3795/KSME-A.2015.39.2.227