Object tracking system by pan-tilt moving cameras and robot using condensation method

This paper discusses an object tracking system using an arm robot and pan-tilt cameras. The arm robot can rotate in wide range but its speed is slow. On the other hand, the pan-tilt camera moves quickly, but rotational ranges are limited. By combining these devices, we propose the high speed and wide range object tracking method. In order to detect objects in camera images rapidly, we use color information and the condensation method which describes object location probabilistically. In experiments, our tracking system can trace objects which move surround of the system, and we can confirm effectiveness of proposed method.