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Detection and Tracking of Multiple Moving Vehicles with a UAV
Int. J. Fuzzy Log. Intell. Syst. 2018;18(3):182-189
Published online September 25, 2018
© 2018 Korean Institute of Intelligent Systems.

Min-Hyuck Lee and Seokwon Yeom

School of Computer and Communication Engineering, Daegu University, Gyeongsan, Korea
Correspondence to: Seokwon Yeom
Received June 1, 2018; Revised September 4, 2018; Accepted September 4, 2018.
This is an Open Access article distributed under the terms of the Creative Commons Attribution Non-Commercial License ( which permits unrestricted non-commercial use, distribution, and reproduction in any medium, provided the original work is properly cited.
Multiple object detection and tracking are essential for video surveillance. A drone or unmanned aerial vehicle (UAV) is very useful for aerial surveillance due to the efficiency of capturing remote scenes. This paper addresses the detection and tracking of moving vehicles with a UAV. A UAV can capture video sequences above the road at a distance. The detection step consists of frame differencing followed by thresholding, morphological filtering, and removing false alarms considering the true size of vehicles. The centroids of the detected areas are considered as measurements for tracking. Tracking is performed with Kalman filtering to estimate the state of the target based on the dynamic state model and measured positions. In the experiment, three moving cars are captured at a long distance by a drone. Experimental results show that the proposed method well detects moving cars and achieves good accuracy in tracking their dynamic state.
Keywords : UAV/drone imaging, Object detection, Multiple target tracking, Kalman filtering