IJSER Home >> Journal >> IJSER
International Journal of Scientific and Engineering Research
ISSN Online 2229-5518
ISSN Print: 2229-5518 8    
Website: http://www.ijser.org
scirp IJSER >> Volume 3,Issue 8,August 2012
A Kalman-Filter-Based Method for Real-Time Visual Tracking of a Moving Object Using Pan and Tilt Platform
Full Text(PDF, )  PP.I029-I034  
B.Torkaman, M.Farrokhi
Visual servoing, Vision-based navigation, Target tracking, Estimation, Pan and tilt platform, Kalman filter, Image processing.
The problem of real time estimating position and orientation of a moving object is an important issue for vision-based control of pan and tilt. This paper presents a vision-based navigation strategy for a pan and tilt platform and a mounted video camera as a visual sensor. For detection of objects, a suitable image processing algorithm is used. Moreover, estimation of the object position is performed using the Kalman filter as an estimator. The proposed method is implemented experimentally to a laboratory-size pan and tilt platform. Experimental results show good target tracking by the proposed method in real-time.
[1] J. Zhu, Y. Lao, and Y. Zheng, “Object tracking in structured environments for video surveillance applications,” IEEE Trans. on Circuits and Systems for Video Technology, vol. 20, no. 2, pp. 529-551, 2010.

[2] J. Courbon, Y. Mezouar, N. Guenard, and P. Martinet, “Vision-based navigation of unmanned aerial vehicles,” Control Engineering Particle, vol. 18, no. 7, pp. 789-799, 2010.

[3] H. Hile, A. Liu, G. Borriello, “Visual navigation for mobile devices,” IEEE Multimedia, vol. 17, no. 2, pp. 16-25, 2010.

[4] T. Sasaki, D. Brscic, and H. Hashimoto, “Human-obervation-based extraction of path patterns for mobile robot navigation,” IEEE Trans. on Industrial Electronics, vol. 57, no. 4, pp. 1401-1410, 2010.

[5] P.K. Allen, A. Timcenko, B. Yoshimi,and P. Michelman, “Automated tracking and grasping of a moving object with a robotic hand-eye system,” IEEE Trans. on Robotics and Automation, vol. 9, no. 2, pp. 152_165, 1993.

[6] N. Hollinghurst, R. Cipolla, “Uncalibrated stereo hand eye coordination,” Image and Vision Computing, vol. 12, no. 3, pp. 187_192, 1994.

[7] G .D. Hager, W.C. Chang, A.S. Morse, “Robot hand-eye coordination based on stereo vision,” IEEE Control Systems Magazine vol. 15, no. 1, pp. 30_39, 1995.

[8] E. Malis, F. Chaumette, S. Boudet, “visual servoing,” IEEE Trans. on Robotics and Automation, vol. 15, no. 2, pp. 238_250, 1999.

[9] S. Reece, and S. Roberts, “The near constant acceleration gaussian process kernel for tracking,” IEEE Trans. Signal Procesing Letters, vol. 17, no. 8, pp. 707-710, 2010.

[10] H. Goto, Y. Hasegawa, and M. Tanaka, “A robust moving objects detection based on improved gaussian mixture model ,” IEEE International Conference on Artificial Intelligence and Computational Intelligence, Sanya, China, pp. 54-58, 2010.

[11] S. Bogatin, K. Foppe, and P. Wasmeier, “Evaluation of linear kalman filter processing geodetic kinematic measurments,” Measurement Journal, vol. 41, no. 5, pp. 561-578, 2008.

[12] Z. Fei, H. Wei-jun, and F. Xin-yue, “Tracking application about singer model based on marginalized particle filter,” The Journal of China Universities of Posts and Telecommunications, vol. 17, no. 4, pp. 47-51, 2010.

[13] Mehrotra K. and Mahapatra P. R., “A jerk model for tracking highly maneuvering targets,” IEEE Trans. Aerospace and Electronic Systems, vol. 33, no. 4, pp. 1094–1105, 1997.

[14] A. Bovik, The Essential Guide to Video Processing, Second ed., Academic Press, New York, 2009.

[15] I. R. Stanciu, Designing Visually Servoed Tracking to Augment Camera Teleoperators, PHD Thesis, Drexel University, department of Electrical Engineering, Philadelphia, 2004.

[16] D. Simon, “Kalman filtering with state constraints: a survey of linear and nonlinear algorithm,” IET Control Theory and Applications, vol. 4, no. 8, pp. 1303-1318, 2010.

[17] F. Janabi, and M. Marey, “A Kalman filter based method for pose estimation in visual servoing,” IEEE Trans. Robotics, vol. 26, no. 5, pp. 939-947, 2010.

[18] D. S. Jang, S. W. Jang, and H. Choi, “2D human body tracking with structural Kalman filter,” Pattern Recognition, vol. 35, no. 10, pp. 2041- 2049, 2002.

Untitled Page