Non-delayed visual tracking of a moving object with target speed compensation

The paper describes a novel method for visual tracking of a moving object with compensating tracking delay. Many of conventional visual feedback techniques based on image-based control law dealt with static target object, while the moving objects are tracked with the techniques based on position-based one. In case to track a moving target with the image-based controller, the tracking delay should occur, so that it must be suppressed in some methods. In our approach, the image-based control law is simply improved and then the source of the tracking delay is compensated with the estimated target speed in camera coordinate frame.