Camera object tracking system

This paper presents a pan and tilt camera system that can follow a predefined object that move freely under a specific constraint. We use a stepping motor that work in a half step mode, provides a minimum of 0.9 degree movement, but it is adequate as a pan and tilt actuator system for the specified usage. A Kalman filter is used to estimate the object motion in the block matching process due to disorder changes due to the image being close to other views for several frames. A Motorola DSP 56002 is used as a controller processor for the actuator driver and the frame grabber Visionetics International installed in the Pentium 100. The sampling time is 3 frame/second.