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

Authors

  • Saripudin Saripudin School of Electrical Engineering and Informatics Bandung Institute of Technology, Jalan Ganesha No. 10, Bandung 40132
  • Modestus Oliver Asali School of Electrical Engineering and Informatics Bandung Institute of Technology, Jalan Ganesha No. 10, Bandung 40132
  • Bambang Riyanto Trilaksono School of Electrical Engineering and Informatics Bandung Institute of Technology, Jalan Ganesha No. 10, Bandung 40132
  • Toto Indriyanto Faculty of Mechanical and Aerospace Engineering Bandung Institute of Technology, Jalan Ganesha No. 10, Bandung 40132

DOI:

https://doi.org/10.5614/itbj.ict.res.appl.2019.13.3.1

Keywords:

μ-synthesis, computer vision, moving object tracking, video tracker, visual servo

Abstract

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.

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References

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Published

2019-12-31

How to Cite

Saripudin, S., Asali, M. O., Trilaksono, B. R., & Indriyanto, T. (2019). Design and Implementation of Moving Object Visual Tracking System using μ-Synthesis Controller. Journal of ICT Research and Applications, 13(3), 177-191. https://doi.org/10.5614/itbj.ict.res.appl.2019.13.3.1

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Articles