Mono-camera robotic system for tracking moving objects

The paper presents a mobile platform that, using a single wireless camera, tracks in real-time a predefined object. For simplicity, object recognition is based on shape and color analysis in the HSV spectrum. Platform positioning towards the object is done on two planes: centering the image on the center of the object and approaching the object within a set distance interval. Platform movement is controlled locally, using an Arduino Uno development board, and image processing is done centrally by a general computing system that runs Matlab. Wireless communication is implemented between the two.