Improved Real Time Target Tracking System Based on Cam-Shift and Kalman Filtering Techniques

This paper presents an improved real time single-target target tracking system based on Cam-Shift and advanced Kalman filter algorithms. The paper proposes a simple low implementation cost scheme while keeping the high tracking performance. Two degrees of freedom target tracking system based on two hybrid stepper motors with their drive systems is fully designed and implemented to improve the tracking accuracy while keeping low-cost. The potential of the proposed algorithm lies in its ability to accurately detect, track, and produce firing commands on the designated target while utilizing low cost on the shelf embedded Microcontroller boards. A low-cost Universal Serial Bus port (USB) camera is used and integrated with the proposed algorithm to detect and track maneuvering targets. A series of experiments for stationery and moving objects are conducted to evaluate the proposed system efficiency. The proposed system enables accurate performance for tracking static and moving objects. Hence it provides a simple and low implementation cost scheme for real time object tracking applications.