Implementation of Adaptive Stereo Object Tracking System through the PID-based Pan/Tilt controller 


Vol. 27,  No. 12, pp. 1235-1244, Dec.  2002


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  Abstract

In this paper, a new adaptive stereo object tracking system through the PID-based pan/tilt controller is proposed. That is, in the proposed system, the location coordinates of the target object in the right and left images are extracted from the sequential stereo input image by applying a region-based MAD(mean absolute difference) algorithm and an optical BPEJTC(binary phase extraction joint transform correlator) system, and then these values are used to effectively control the camera pan/tilt system under the noisy circumstances through the proposed PID(proportional-integral-derivative) controller, in which the error signals occurred between the image frames of the practical stereo object tracking system are adaptively controlled through an error campensation. That is, in the PID system, the location coordinate of the moving target is initially controlled by using proportional gain(Kp) and differential gain(Kd), and the 2nd and 3rd signals are controlled using only differential gain(Kd) and then all of the next signals are controlled using only integral gain(Ki). From some experimental results using 30 frames of the sequential stereo input image, it is analyzed that 8.1 % tracking error of the conventional tracking system not employing a PID controller can be dramatically reduced to 0.01% in the proposed PID-based tracking system on the average.

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  Cite this article

[IEEE Style]

J. Ko and E. Kim, "Implementation of Adaptive Stereo Object Tracking System through the PID-based Pan/Tilt controller," The Journal of Korean Institute of Communications and Information Sciences, vol. 27, no. 12, pp. 1235-1244, 2002. DOI: .

[ACM Style]

Jung-Hwan Ko and Eun-Soo Kim. 2002. Implementation of Adaptive Stereo Object Tracking System through the PID-based Pan/Tilt controller. The Journal of Korean Institute of Communications and Information Sciences, 27, 12, (2002), 1235-1244. DOI: .

[KICS Style]

Jung-Hwan Ko and Eun-Soo Kim, "Implementation of Adaptive Stereo Object Tracking System through the PID-based Pan/Tilt controller," The Journal of Korean Institute of Communications and Information Sciences, vol. 27, no. 12, pp. 1235-1244, 12. 2002.

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pISSN : 1226 - 4717
eISSN : 2287 - 3880