Object Recognition System in Remote Controlled Weapon Station using SIFT and SURF Methods

摘要

Object recognition system using computer vision that is implemented on Remote Controlled Weapon Station (RCWS) is discussed. This system will make it easier to identify and shoot targeted object automatically. Algorithm was created to recognize real time multiple objects using two methods i.e. Scale Invariant Feature Transform (SIFT) and Speeded Up Robust Features (SURF) combined with K-Nearest Neighbors (KNN) and Random Sample Consensus (RANSAC) for verification. The algorithm is designed to improve object detection to be more robust and to minimize the processing time required. Objects are registered on the system consisting of the armored personnel carrier, tanks, bus, sedan, big foot, and police jeep. In addition, object selection can use mouse to shoot another object that has not been registered on the system. Kinect? is used to capture RGB images and to find the coordinates x, y, and z of the object. The programming language used is C with visual studio IDE 2010 and opencv libraries. Object recognition program is divided into three parts: 1) reading image from kinect? and simulation results, 2) object recognition process, and 3) transfer of the object data to the ballistic computer. Communication between programs is performed using shared memory. The detected object data is sent to the ballistic computer via Local Area Network (LAN) using winsock for ballistic calculation, and then the motor control system moves the direction of the weapon model to the desired object. The experimental results show that the SIFT method is more suitable because more accurate and faster than SURF with the average processing time to detect one object is 430.2 ms, two object is 618.4 ms, three objects is 682.4 ms, and four objects is 756.2 ms. Object recognition program is able to recognize multi-objects and the data of the identified object can be processed by the ballistic computer in realtime.