Detection of Moving Object on UAV (Unmanned Aerial Vehicle) based Segmentation Using Wavelet and Sobel Operator

Muhammad Khaerul Naim Mursalim


An unmanned aerial vehicle (UAV), commonly known as a drone and also referred by several other names is an aircraft without a human pilot aboard. Unmanned aerial vehicle (UAV) usually is used in military field for reconnaissance, surveillance, and assault. To detect a moving object in real-time, there are complex processes than to detect the object that does not moving. There are some issues that faced in detection process of moving object in UAV, called constraint uncertainty factor (UCF) such as environment, type of object, illumination, camera of UAV, and motion. One of the practical problems that become concern of researcher in the past few years is motion analysis. Motion of an object in each frame carries a lot of information about the pixels of moving objects which has an important role as the image descriptor. In this paper, we use SUED (Segmentation using edge-based dilation) algorithm to detect moving objects. The concept of the SUED algorithm is combining the frame difference and segmentation process to obtain optimal results. The simulation results show the performance improvement of SUED algorithm using combination of wavelet and Sobel operator on edge detection, the number of frames for a true positive increased by 41 frames, then the false alarm rate decreased to 7% from 24% when only using Sobel operator. 

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