Real-Time Crowd Detection and Surveillance System Using an Arduino Based Flight Controller for Quadcopters

  • Kamalesh KalirathinamEmail author
  • Hari Rathod
  • Yash Agrawal
  • Rutu Parekh
Conference paper
Part of the Learning and Analytics in Intelligent Systems book series (LAIS, volume 12)


This paper is dedicated to implementing a feedback control system for a UAV equipped with inertial sensors with a focus on Vertical Take-off and Landing and detect the number of people in a given frame using machine learning. The flight controller board has a feedback PID (Proportional-Integral-Derivative) algorithm code burned onto it. The PID controller has an initial set point and the readings from the gyroscope and accelerometer are continuously fed back to the PID. The readings that indicate the inclination along any arm of quadcopter will generate an error after comparing with the initial point and then PID will generate a corresponding output to eliminate the error and balance the quadcopter. Finally, the camera transmits the video to the base station (Laptop) and the machine learning algorithm in the laptop gives the number of people in a frame with heat maps and surveillance video.


Quadcopters Surveillance Machine learning Image recognition IoT Arduino PID algorithm 


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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  • Kamalesh Kalirathinam
    • 1
    Email author
  • Hari Rathod
    • 1
  • Yash Agrawal
    • 1
  • Rutu Parekh
    • 1
  1. 1.DA-IICTGandhinagarIndia

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