Real-time Tracking with Kalman Filter

automatically updated during the matching process, This paper describes a real-time tracking system which detects an object entering into the field of view of camera and executes the tracking of the detected object by controlling a servo device so that a target object always lies at the center of an image frame. In order to detect and track a moving object, we basically apply a model matching strategy. We allow a model to vary dynamically during the tracking process so that it can assimilate the variations of shape and intensities of a target object. We also utilize Kalman filter so that a tracking history can be encoded into state parameters of Kalman filter. The estimated state parameters of Kalman filter will then be used to reduce search areas for model matching and to control a servo device.