9th Joint International Conference on Information Sciences (JCIS-06)

Active Tracking Using Kernel-Based Vision Processor and Robust Fuzzy Control

Authors
Alireza Mustafa 0, Moteaal Asadi Shirzi, Muhammad Reza Hairi Yazdi
Corresponding Author
Alireza Mustafa
0Control and Robotics Lab., University of Tehran
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DOI
https://doi.org/10.2991/jcis.2006.276How to use a DOI?
Keywords
Tracking, Fuzzy Control, Mean Shift Algorithm, Kernel Based Tracking, Parallel Processing
Abstract
In this paper we introduce a practicable system by combining a vision processing algorithm and a fuzzy controller to obtain an efficient active tracker. Target tracking performance is heavily dependent on a good blend of vision algorithm and control. Because of performance and computational complexity, in practice, many visual tracking algorithms cannot be linked with control systems to track objects in real-time. Robustness and speed are the two major bottlenecks of current visual tracking algorithms. In this paper, the target's visual model is used along with a kernel-based searching algorithm to predict the target position. A model update is also incorporated to recognize when the target’s appearance is changing due to its pose change. In case of target track loss, a search algorithm sweeps the space in vicinity of last target position to recover the lost target. A motion detection module used in our tracking system not only helps to initiate the tracking process automatically, it also finds the target’s presence after track loss. A fuzzy control is also synthesized to reach our control performance objectives. The idea is implemented in an active camera system to track moving targets. In addition, we've used the parallel processing technique for vision and control to reach acceptable speed and accuracy in real-time tracking.
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This is an open access article distributed under the CC BY-NC license.

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Proceedings
9th Joint International Conference on Information Sciences (JCIS-06)
Publication Date
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ISBN
978-90-78677-01-7
DOI
https://doi.org/10.2991/jcis.2006.276How to use a DOI?
Open Access
This is an open access article distributed under the CC BY-NC license.

Cite this article

TY  - CONF
AU  - Alireza Mustafa
AU  - Moteaal Asadi Shirzi
AU  - Muhammad Reza Hairi Yazdi
PY  - NaN/NaN
DA  - NaN/NaN
TI  - Active Tracking Using Kernel-Based Vision Processor and Robust Fuzzy Control
BT  - 9th Joint International Conference on Information Sciences (JCIS-06)
PB  - Atlantis Press
UR  - https://doi.org/10.2991/jcis.2006.276
DO  - https://doi.org/10.2991/jcis.2006.276
ID  - MustafaNaN/NaN
ER  -