Detecting and tracking moving object using an active camera

Abstract

This paper is to introduce detecting and tracking moving object using an active camera, which is mounted on mobile robot. Motion of camera is analyzed and compensated by comparing edge features among consecutive image frames. Candidate regions of moving object are found by differencing between transformed i <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">th</sup> image and t-1 <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">th </sup> image. Moving object is finally decided by combined feature set and motion analysis. Object is tracked by matching object components in ROI. We have experimented detecting and tracking moving object with an active camera, which is pan/tilt/zoom and single camera