High-Speed Object Tracking System using Active Camera

This paper presents a new method for tracking the moving target by controlling a pan-tilt camera. Our method can capture motion-blur-free images of a moving target, because this method automatically synchronizes the target motion with the camera motion. We employed Fixed Viewpoint Pan Tilt Camera (FV-PTZ Camera) as an active camera, which does not produce motion parallax by the camera rotation. For the target tracking on image space, we use K-means Tracker algorithm. As for the pan-tilt control, we employ the PID control scheme. This is because if by assigning the P component as the angular velocity of the object, the I and D components can be corresponded to the angular position and the angular acceleration, respectively. This means the PID control is suitable for controlling the angular speed and position of the pan-tilt unit simultaneously. PID based pan-tilt control is effective for the motion synchronization between the target and camera.