Open AccessVisual Object Servo Tracking Based on the Particle Filter Method Using a Pan-Tilt-Zoom Camera
Author(s) -
Shuai Cao,
Xuanyin Wang,
Xiang Ke
Publication year - 2012
Publication title -
international journal of advanced robotic systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.394
H-Index - 46
eISSN - 1729-8814
pISSN - 1729-8806
DOI - 10.5772/52081
Subject(s) - computer vision , computer science , artificial intelligence , particle filter , tracking (education) , video tracking , zoom , camera auto calibration , object (grammar) , tilt (camera) , tracking system , field of view , servo , servo control , filter (signal processing) , camera resectioning , mathematics , physics , optics , psychology , pedagogy , geometry , lens (geology)
We present a servo control model in a particle filter to realize robust visual object tracking using Pan-Tilt-Zoom (PTZ) camera. The particle filter method has attracted much attention due to its robust tracking performance in cluttered environments. However, most methods are in the mode of moving object and stationary camera, as a result, the tracking will end in failure if the object goes out of the field of view of the camera. In this paper, a closed-loop control model based on speed regulation is proposed to drive the PTZ camera to keep the target at the centre of the camera angle. The experiment results show that our system can track the moving object well and can always keep the object in the middle of the field of view. The system is computationally efficient and can run in real-time completely