A combined object-tracking algorithm for omni-directional vision-based AGV navigation

Research paper by Wei Yuan, Jie Sun, Zuo-liang Cao, Jing Tian, Ming Yang

Indexed on: 12 Mar '10Published on: 12 Mar '10Published in: Optoelectronics Letters


A combined object-tracking algorithm that realizes the realtime tracking of the selected object through the omni-directional vision with a fisheye lens is presented. The new method combines the modified continuously adaptive mean shift algorithm with the Kalman filter method. With the proposed method, the object-tracking problem when the object reappears after being sheltered completely or moving out of the field of view is solved. The experimental results perform well, and the algorithm proposed here improves the robustness and accuracy of the tracking in the omni-directional vision.