Vision Based Tracking of Moving Target

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