HARDWARE

DEVELOPMENT
AND
IMPLEMENTATION OF AN OBJECT
TRACKING ALGORITHM FOR UAV
APPLICATIONS
Guided by
Dr. K. SENTHIL KUMAR
ASSOCIATE PROFESSOR
DEPT OF AEROSPACE ENGINEERING
MIT, CHENNAI

Presented by
K. VAIRAMANIKANDAN
2013603041

OVERVIEW
This work focuses on an object tracking technique which uses
CAMSHIFT algorithm to detect moving objects and generate reliable
tracks from real-world surveillance video.
Pan tilt mechanism is used to implement the tracking algorithm in
hardware.

WORK DONE IN PHASE-I

Object tracking technique was implemented in both webcam as well as
real time video data using CAMSHIFT tracking algorithm.
Results were shown.

HARDWARE IMPLEMENTATION
HARDWARE:

SOFTWARE:

1. Servo Motors x 2
2. Camera
3. Raspberry Pi
4. External Power Supply 5V x 1
5. BreadBoard x 1
6. Single Core connecting wires

1. NetBeans IDE 7.3

2. OpenCV 2.4.10

BLOCK DIAGRAM

user input

Raspberry PI
Computer
(Netbeans IDE with
OpenCV library)

Servo Motor

Webcam

Object/
Target

IMPLEMENTATION STEPS
The Webcam sends video frames to the NetBeans compiler which contains Open
CV library running on Raspberry Pi.
The algorithm which is coded in c++ detects the image of the object from the
webcam.
The above algorithm is compiled in NetBeans IDE which calculates the coordinates in X, Y axis.

Contd
The corresponding co-ordinates are sent to the servo motors.
After receiving the co-ordinates the servo motors moves accordingly in X and Y
direction and follows the object.

SETUP

FUTURE PLAN
1. Using servo motors creating Pan-tilt platform for mounting camera
module.
2. Object tracking algorithm is compiled in Netbeans IDE which is
installed in Raspberry pi and it controls the Pan-tilt platform to
move the camera to track the target.

REFERENCES
Salahat, E. Saleh, H., Automated real-time video
surveillance algorithms forSoC implementation: A
survey, 2013.
Su Liu; Papakonstantino,A. ; Wang ; Chen ; Real-Time
Object Tracking System on FPGAs, 2011.
Shahzad, M. ; Zahid, S. Image Coprocessor: A REalTime Approach Towards Object Tracking, 2009.
Gilbert, Alton L; Michael K; Gerald M. A Real-time Video
Tracking System, 2009