A flexible object tracking system for planary motion

Object visual tracking and servo is a challenging research topic in the fields of computer vision, pattern recognition and robotics. Usually, people just utilize PTZ for active surveillance tracking. In this work, we combine visual tracking and visual servo to drive a PTZ to cast laser beam on the target object. The demonstrated tracking system is friendly-using and accurate which can be used for object tracking in plane, such as stage lighting effect, video surveillance, etc. Our proposed tracking system features arbitrarily installation, automatic parameters calibration, high efficiency and low coupling. From the point of mathematical modeling, our model outputs exact solution without any accuracy loss.

目标视觉跟踪与伺服是计算机视觉、模式识别和机器人技术领域中一个具有挑战性的研究课题。通常，人们只是利用云台（PTZ）进行主动监控跟踪。在这项工作中，我们将视觉跟踪和视觉伺服相结合，驱动云台将激光束投射到目标物体上。所展示的跟踪系统使用方便且精确，可用于平面内的物体跟踪，例如舞台灯光效果、视频监控等。我们提出的跟踪系统具有任意安装、自动参数校准、高效和低耦合的特点。从数学建模的角度来看，我们的模型输出精确解，没有任何精度损失。