Tracking based on hue-saturation features with a miniaturized active vision system

Abstract

This paper presents a miniaturized active vision system for visual tracking. One of the main problems in visual tracking is the autonomy and manageability of the system to be mounted on robotic structures, such as mobile and manipulator robots. The proposed active vision system has been built using a motorized platform characterized by its low price, lightness, small dimensions and wireless control. It is interesting for visual tracking applications where constraints of size and weight must be considered. In our mini active vision system, a tracking method based on CamShift has been implemented. The novelty of our tracker, in comparison with CamShift, is its ability to automatically combine a hue distance component and a saturation component from the HSV colour model in order to track objects in dynamic backgrounds with similar hue values.