Real-Time Visual Tracking System Suggested by Saccade and Pursuit Eye movements.
Yoshinori Takeuchi, Zengfu Wang, Noboru Ohnishi, Noboru Sugie · Journal of the Robotics Society of Japan · 1997
This paper presents a real-time visual tracking system that can follow a moving object by controlling the pan and tilt of a camera based on the object position and speed obtained by video-rate image processing. The system consists of a camera, an image processing system, a pan/tilt platform and a motor driver. The developed platform can control the pan and tilt angle of a camera with accuracy of 0.002 [deg] and speed up to 50 [deg/s] . We have developed a tracking algorithm using both position and velocity of a moving object. The system integrates them to capture a moving object in the center of camera view. The algorithm, implemented on a general purpose image processor, can detect a moving object within 33 [ms] . As an experimental result, the system can track a moving object (walking person) in real-time.