An Adaptive Pan-Tilt Camera Control for Visual Target Tracking

The problem of target tracking with an active monocular camera is considered in this paper. A model of the Pan-Tilt camera unit is developed using homogeneous transformation matrices. Using target offset (error) coordinates in the image plane, an adaptive control is proposed for the active camera system to track a moving target and keeping its image in the camera view. To illustrate the effectiveness of the proposed controller, simulation and experimental results are presented.