Adaptive control of a video camera for the automatic detection and tracking of mobiles
- 30 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2, 53-58 vol.2
- https://doi.org/10.1109/icsmc.1993.384850
Abstract
The paper presents a system for the automatic tracking of mobile targets by means of computer vision. The system consists of a wrist with two degrees of freedom (yaw and pitch) that controls a video camera. First, a simplified kinematic model is proposed that relates the position of the target's centroid in the image plane with the pan and tilt rotation angles. In order to permanently maintain the target within the field of vision of the video camera, a prediction algorithm is presented. The paper also revises several potential estimation and prediction techniques, like Kalman filtering, the Luenberger observer, the RMLS algorithm and the adaptive gradient-descent method, which have been applied to predict the centroid position.<>Keywords
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