A SSD – OCR Approach for Real-Time Active Car Tracking on Quadrotors

  • Luiz Gustavo Miranda Pinto
  • Félix Mora-Camino
  • Pedro Lucas de Brito
  • Alexandre C. Brandão RamosEmail author
  • Hildebrando F. Castro Filho
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 800)


This paper has the goal of presenting a deep neural network algorithm for real-time object tracking called Single Shot MultiBox Detector – SSD as a source of detection, in combination with an Optical Character Recognition – OCR algorithm, both serving as assistance for determining the right position and speed for a quadrotor during an active car track mission. During the experiments, a Tello DJI drone equipped with a frontal camera and a distance sensor were used to receive height measurements. The whole algorithm was implemented in Python programming language as a combination of Tello SDK for software development, Hanyazou’s TelloPy package for video streaming, an OCR algorithm implemented with digital image processing and an SSD system created with TensorFlow. The frontal camera was used as a real-time streaming source for the SSD and OCR systems, being both coordinated by TelloPy, which made it possible to achieve both position and speed control using Tello SDK. The distance sensor under the drone helped to avoid collisions underneath and refine the positioning. Outdoor tests were executed to check the drone’s behavior during the active car track mission. Besides the project is still in its initial stage, satisfactory results were collected and will be used for further analysis and improvements.


Car track Drones Image processing Neuro networks 



The authors would like to thank the funding institution FAPEMIG, where without its resources this project wouldn’t be possible.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Luiz Gustavo Miranda Pinto
    • 1
  • Félix Mora-Camino
    • 2
  • Pedro Lucas de Brito
    • 1
  • Alexandre C. Brandão Ramos
    • 1
    Email author
  • Hildebrando F. Castro Filho
    • 3
  1. 1.Institute of Mathematics and Computing, Federal University of ItajubáItajubáBrazil
  2. 2.Federal Fluminense University, Brazil ComputingRio de JaneiroBrazil
  3. 3.Aeronautical Institute of Technology, Brazil ComputingSão José dos CamposBrazil

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