In this paper, we proposed visual information to provide a highly maneuverable system for a tele-operator. The visual information image is bird’s eye view from UFR(Unmanned Flying Robot) shows around UGR(Unmanned Ground Robot). We need UGV detection and tracking method for UFR following UGR always. The proposed system uses TLD(Tracking Learning Detection) method to rapidly and robustly estimate the motion of the new detected UGR between consecutive frames. The TLD system trains an on-line UGR detector for the tracked UGR. The proposed system uses the extended Kalman filter in order to enhance the performance of the tracker. As a result, we provided the tele-operator with the visual information for convenient control.

1. 서 론
 2. 관련 응용 및 연구
 3. TLD(Tracking Learning Detection)
  3.1 TLD를 위한 초기 모델 검출
  3.2 추적기(Tracker)
  3.3 검출기(Detector)
  3.4 학습기(Learning)
  3.5 통합기(Integrator)
 3. 결 론
 References

• 김승훈(Intelligent Robotics Research Center, Korea Electronics Technology Institute) | Seung-Hun Kim
• 정일균(Intelligent Robotics Research Center, Korea Electronics Technology Institute) | Il-Kyun Jung Corresponding author