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Application of Mean Shift to Real-Time Visual Tracking for a Deformable Object

This thesis presents a robust real-time active tracking system with a pan-tilt camera. The proposed visual servo framework is able to track a deformed object and maintain the target always inside the field of view. For the image processing, an efficient template matching and searching method using the mean-shift theory is developed. The robustness is achieved by appending the ratio histogram, a kernel function, and the template update to the framework when the target is deformed. Then the pan-tilt unit turns towards the target and keeps the target inside the field of view of the camera by feeding back the position information to a Kalman filter.
Experimental results show that the presented scheme works successfully when the target is vague or concealed or deformed. The visual tracking task can also be accomplished even when a similar object crosses over the target. In addition, the refreshing rate can be up to 60 frames per second.

Identiferoai:union.ndltd.org:NSYSU/oai:NSYSU:etd-0717109-174103
Date17 July 2009
CreatorsLin, Chia-wei
ContributorsHer, Innchyn, Hsin-Hung Chen, Cheng, Chi-Cheng, Chau-Chang Wang
PublisherNSYSU
Source SetsNSYSU Electronic Thesis and Dissertation Archive
LanguageCholon
Detected LanguageEnglish
Typetext
Formatapplication/pdf
Sourcehttp://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0717109-174103
Rightsoff_campus_withheld, Copyright information available at source archive

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