Object tracking using motion flow projection for pan-tilt configuration

We propose a new object tracking model for two degrees of freedom mechanism. Our model uses a reverse projection from a camera plane to a world plane. Here, the model takes advantage of optic flow technique by re-projecting the flow vectors from the image space into world space. A pan-tilt (PT) mounting system is used to verify the performance of our model and maintain the tracked object within a region of interest (ROI). This system contains two servo motors to enable a webcam rotating along PT axes. The PT rotation angles are estimated based on a rigid transfor- mation of the the optic flow vectors in which an idealized translation matrix followed by two rotational matrices around PT axes are used. Our model was tested and evalu- ated using different objects with different motions. The results reveal that our model can keep the target object within a certain region in the camera view