Development of camera tracking system using STR in visual feedback scheme

Summary form only given. We describe the development and experimentation of a visual tracking system for moving target on 2D plane, using the sequence of images from a CCD camera, mounted on mechanical equipment, its line of sight has two rotational degrees of freedom (pitching and yawing). interconnect bus. The problems of this system are uncertainty of camera parameters, nonlinearity of target motion and mechanical assembly, and also time-varying transformation of perspective projection. A self tuning regulator (STR) adjusts automatically the parameters of the controller for absorbing variation of the system characteristics without identifying the system parameters. Thus, to overcome the problems, STR is applied to visual tracking system. From the experimental results, it is confirmed that the problems are compensated by adaptive law and yields tracking performance even in the face of poor prior knowledge of the circumstance. Two experimental results of real-time tracking during sufficient fast sampling time are shown.