Moving object tracking algorithm for mobile robot based on Kalman filter

摘要

A real-time moving object tracking algorithm based on Kalman filter is proposed.The color and shape features are used together for the recognition of the moving color object in complex environment.The possible position of the moving object in the next frame is predicted by Kalman filter's predictive function,and the global searching scope of an image is converted to local scope,thus the system efficiency is improved.The experimental results show that the algorithm is effective in mobile robot's moving control,and the speedy tracking of moving object is realized.