Vision Based Tracking of Moving Target in an Autonomous Ground Vehicle

Vaitheeswaran, SM and Behera, SK and Hemanth, K and Bharath, MK and Gokul, M (2015) Vision Based Tracking of Moving Target in an Autonomous Ground Vehicle. International Journal of Robotics and Mechatronics, 2 (2). pp. 53-58. ISSN 2288-5889

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Abstract

The tracking of moving objects using a camera mounted on an autonomous ground vehicle time to keep the target within the image on an autonomous ground vehicle is addressed. The Continuously Adaptive Mean Shift (CAMShift) algorithm is used to identify the moving target based on the color distribution of the target histogram. The CAMShift algorithm adaptively adjusts the track window`s size and the color distribution pattern of targets during tracking and uses a background-weighted histogram to distinguish the target from the background. A control scheme is designed for yaw and position control to keep the tracked object in the field of view. The system is practically implemented and tested using the Arduino platform and a cheap low cost web based camera.

Item Type:	Article
Additional Information:	Copyright for this article belongs to M/s. unsysdigital
Uncontrolled Keywords:	CAMShift;Mean-Shift;Probability distribution;Robust Control; Pulse width modulation;Gimbal control
Subjects:	AERONAUTICS > Aeronautics (General)
Depositing User:	Ms. Alphones Mary
Date Deposited:	04 Jul 2016 10:25
Last Modified:	04 Jul 2016 10:25
URI:	http://nal-ir.nal.res.in/id/eprint/12497

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