Real-time indoor surveillance based on smartphone and mobile robot

The purpose of this study is to integrate image processing techniques, fuzzy theory, wireless communications, and smartphone to a wheeled mobile robot (WMR) for real-time object recognition, tracking and indoor surveillance. Image processing and fuzzy control algorithms are coded by C# language. Zigbee is utilized to transmit command signals between webcam, WMR, and computer. The WMR uses webcam to capture its surroundings. Classification of color features is based on Hue-Saturation-Value (HSV) color space. The WMR calculates the relative position of the target object through image processing and distance computation algorithms. Fuzzy system is applied to servo motor of the WMR and robot controller design. The WMR is applied to surveillance usage, it can be controlled remotely by a smartphone via WIFI and perform indoor patrol and monitor its surroundings. The home site conditions can be clearly seen on the smartphone. Experiments show that the proposed control design and system integration of the wheeled mobile robot works well in indoor real-time surveillance.