OBJECT DETECTION

AND TRACKING ROBOT

P S SRI BHARGAVA

1VI11EC057

RAJESH KUMAR REDDY C A

1VI11EC062

P BHARADWAJ REDDY

1VI11EC059

R SHARAN

1VI11EC060

GUIDE: SWATHI SUBRAMANYA

INTRODUCTIO
N
The features of the object such as the color, shape, size can be monitored

for tracking the object.

In our project we use the color information of the object to track the
object.
A camera is used to capture the image of the ball.
The captured images of the object are processed using software MATLAB.
Depending on the change in position of object, proper commands are
given to the robot to track moving object.
The motion of the robot is controlled by a microcontroller based on the
control signals received directly.

OBJECTIVE AND
SCOPE
The major weakness in surveillance is that it rests on the involvement of

human operators, who usually monitor a large number of inputs from

cameras.
To overcome this potential problem, a mobile robot could be used. A robot
would be able to travel throughout the regions to be monitored
autonomously and continuously, making its own decisions while
identifying the unwanted behaviors .
The main aim of object tracking is to track the object based on the
information obtained from video sequences.

BLOCK DIAGRAM

:
Robot
Mobility

Input
Image

Driver for DC
servo motor
Robot

Camera

Control

Wireless
Interface

Microcontroller

Zigbee
Power

Supply
Battery
backed

Image
Processing
MATLAB

ANALOGY
Input Image Phase
Detection of the Object
1: Extracting frames
2: Extracting colour components
3: RGB to grey scale conversion
4: Noise Elimination
5: Elimination of small objects
6: Subtracting background

Object Tracking
Centroid Analysis
Wireless Interface

HARDWARE AND
SOTWARE
HARDWARE:

MICROCONTROLLER (PIC16F877A)
DC SERVO MOTOR
ZIGBEE MODULE
POWER SUPPLY
DIGITAL CAMERA
SOFTWARE:

MATLAB
KIEL COMPILER

APPLICATIONS
Used in Security and Surveillance applications.
Used for tracking and detection of objects in restricted areas.
Used in speed detection.
Used in Industrial process controlling and monitoring.

EXPECTED
RESULT
Using the above hardware and design, the required objective can be achieved.
Other features such as size and shape can also be used for improving the accuracy of
tracking and detection.

Obstacle avoidance mechanisms can be included by using active sensors such as

Infrared sensors and supersonic sensors to measure the range in real time
between the obstacles and robot.

REFERENCES
Hou-Tsan Lee, Wei Chuan Lin, Ching Hsiang Huang, Yu Jhih Huang, Wireless Indoor Surveillance Robot, SICE Annual Conference
2011,Waseda University, Tokyo, Japan, September 13-18, 2011.

Kyunghoon Kim, Soonil Bae, and Kwanghak Huh, Intelligent Surveillance and Security Robot Systems,978-1-4244-9123-0/1 2010
IEEE.

Jorg Kriiger, Bertram Nickday, Oliver Schulz, Image-Based 3D-Surveillance in Man-Robot-Cooperation,0-7803-8513 6/4/2004 IEEE.
J. R. White, ti. W. Harvey, and K. A. Farnstrom, Testing On Mobile Surveillance Robot At A Nuclear Power Plant, CH24133/87/0000/0714, 0 1987 IEEE.

Scott Y harmon, For Ground Surveillance Robot (GSR): An Autonomous Vehicle Designed to Transit Unknown Terrain, IEEE Journal
On Robotics And Automation, VOL. RA-3, NO. 3, JUNE 1987.

Final Report on Development on Key Components with Visual Recognition and Motion Control & Construction on Integrated
Surveillance Robot System, Korea Ministry on Knowledge Economy, 2010.

Yang Xiao Yanping Zhang, Dept. on Comput. Sci., Univ. on Alabama, Tuscaloosa, AL, USA, Surveillance and Tracking System with
Collaboration on Robots, Sensor Nodes, and RFID Tags, ICCCN 2009, p1 , Aug. 2009.

Gary Bradski, Adrian Kaehler, Vadim Pisarevsky, Learning-Based Computer Vision with Intels Open Source Computer Vision
Library, Intel Technology Journal, Vol 9,Issue 2, p119~131, 19 May 2005.

Luo, R.C. Chou, Y.T. Liao, C.T. Lai, C.C. Tsai, A.C. ,Nat. Chung Cheng Univ., Min Hsiung, NCCU Security Warrior: An Intelligent
Security Robot System, IEEE IECON 2007, p2960, Nov. 2007.