Abstract
In this paper a hardware-software implementation of an object tracking system, which uses a moving camera is described. Selected algorithms: mean-shift, particle filter, KLT and so-called tracking by detection were analysed and evaluated. Particular attention was paid to the effectiveness of fast moving object tracking and the ability to implement the algorithm in a heterogeneous computing system. The selected solution was implemented in the Zynq SoC (System on Chip) device from Xilinx. Object position was used to control two servomotors, which constituted a pan-tilt mounting of the camera. Additionally, object position prediction was realised using a Kalman filter. The proposed system is able to process a 1280 × 720 @ 60 fps video stream in real time and track moving objects.
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Acknowledgements
The work presented in this paper was supported by the AGH University of Science and Technology project no. 15.11.120.879.
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Kowalczyk, M., Kryjak, T. (2017). Object Tracking With the Use of a Moving Camera Implemented in Heterogeneous Zynq System on Chip. In: Mitkowski, W., Kacprzyk, J., Oprzędkiewicz, K., Skruch, P. (eds) Trends in Advanced Intelligent Control, Optimization and Automation. KKA 2017. Advances in Intelligent Systems and Computing, vol 577. Springer, Cham. https://doi.org/10.1007/978-3-319-60699-6_34
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DOI: https://doi.org/10.1007/978-3-319-60699-6_34
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