A Novel Control Algorithm for Object Tracking by Controlling PAN/TILT Automatically
In an Auto-Object Tracking system, to deal with the situation that absolute position of PAN/TILT devices could not be obtained; we proposed a new PID control algorithm based on the feedback of the displacement between the Tracked Object in image and the center of image. Meanwhile, the control scheme and the parameter range setting method of this PID are also proposed. With our algorithm, a closed loop control system composed of DSP, PAN/TILT device and the feedback of the image, can drive the movement of the PAN/TILT device and keep position of the tracked object in the center of the image automatically. Three experiments are designed to test the movement of object in horizontal vertical and 135° directions. Experimental results show that compared with non-PID algorithm, our algorithm made the object tracking process more accurate and more stable. It meets the demand of the tracking system for the PAN/TILT device without absolute position feedback function.
PID Automatic Control Tracking
Bo Zhang Jun Huang Jinlong Lin
School of Software and Microelectronics, Peking University, China
国际会议
上海
英文
596-602
2010-06-22（万方平台首次上网日期，不代表论文的发表时间）