关键词: 帧间差分阈值, 连续自适应均值偏移, 卡尔曼滤波, 目标跟踪

Abstract:

This paper presents a tracking algorithm based on the CamShift and Kalman prediction which was proposed to solve the poor tracking ability problem in occlusions just using single Camshift.Firstly, an interframe difference threshold method is used to achieve the detection and extraction of the target rapidly and accurately. Secondly,  the color characteristics of moving objects in CamShift algorithm are used to find its location and size in image sequences.Finally, to deal with the object occlusion by other objects which have similar color，a Kalman filter is used to track the object region centroid．We use a  wireless remotecontrolled car to achieve a moving target tracking experiment. The experimental results denote that combining the CamShift algorithm and the Kalman prediction filtering completes a realtime and accurate target tracking.

Key words: threshold of inter frame differential(TIFD)；continuously adaptive mean shift (CamShift)；Kalman filtering；object tracking