IEEE - Aerospace and Electronic Systems - July 2022 - 40

A Vision-Based Guidance Algorithm for Entering Buildings Through Windows for Delivery Drones
distance from the building, moving the camera toward the
building, and ending near the building. Then, the evaluation
is performed on video samples in such a way that at
the beginning of each video, the area containing the window
is given to the tracker as input and the tracker performance
is compared at the end, using the Median Flow
tracker and the DAE algorithm.
In order to quantify the evaluation, the following two
parameters have been considered. The first parameter
shows the quality of tracking in terms of the percentage of
tracked area of the window frame by the tracker
z ¼
P1P2 þ 100
2
:
(18)
The term P1 is the ratio of the exact window frame area to
the tracked segment area, and the term P2 is a proportion
of the exact window frame that is placed outside the
tracked area. The second parameter indicates the quality
of the tracking in terms of drift of the tracked area relative
to the main window frame, defined as
h ¼ 100
d
w
(19)
where d denotes the distance between the exact window
frame centroid and the tracked segment centroid, and w is
the exact window frame diameter. Both efficiency parameters
are represented as percentage.
The result of the evaluation of dataset videos is illusFigure
11.
Sample outputs of DAE compared with ADR-Net outputs. (a), (b),
and (i) Accurate portal detections by DAE vs. inaccurate detections
by ADR-Net. (c) Correct open portal detection by DAE vs. incorrect
detection by ADR-Net. (d) Accurate portal detection of a partially
appearing window by DAE while ADR-Net fails. (e) Successful
portal detection by DAE despite occlusion while ADR-Net fails. (f)
Fairly accurate estimation of open portal by DAE despite indoor
lighting sources while ADR-Net fails. (g), and (h) More accuracy in
DEA despite errors in both algorithms. DAE: ADR-Net:
.
TRACKING EVALUATION
A set of video samples taken from the common buildings
has been prepared and used to evaluate the quality of the
system tracking. As mentioned before, the tracker drift
error increases over time. Therefore, to evaluate how the

IEEE - Aerospace and Electronic Systems - July 2022

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