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1、500IEEETRANSACTIONSONINDUSTRIALELECTRONICS,VOL.49,NO.2,APRIL2002ABiprocessor-OrientedVision-BasedTargetTrackingSystemRaphaëlCanals,AnthonyRoussel,Jean-LucFamechon,andSylvieTreuilletAbstract—Thedesignandrealizationofavision-basedtargetThesecondapproachu
2、sesprimitiveorblockmatching,im-trackingsystemisproposed.Theobjectiveistoderivetheorienta-plementingthetechniqueofcorrelation[1],[4],[21],[30],[38].tionofapan-tiltcamerafittingadroneinordertotrackatargetEachpositionofablockistestedinsideapredefinedsearc
3、handtomaintainitspositioninthemiddleoftheimage.Imagezonebyusingadifferencemeasurement.Intheliterature,thedataanddroneattitudearetheonlyinformationavailableforthecameracontroltobeachievedcorrectly.Thisembeddedsystemblockmatchingtechniqueisprincipallyuse
4、dinmotionestima-requireslow-costhardwareforsurveillanceorattackdroneappli-tionschemesforvideotransmission,especiallyforlowbit-ratecations:adigitalsignalprocessorfortheimageprocessing,andacoding(H261[7],MPEG[28]).Thus,displacementsofobjectsmicrocontroll
5、erforthecameracontrol.Toensurereal-timevideomovinginanimagesequencecanbemeasuredandusedtopre-operation,analgorithmicsolutionintegratingasuccessive-stepdictthecontentofframeslaterinthesequence.Thebasictech-andmulti-blocksearchmethodisimplemented,thusall
6、owingcomplextargetdisplacements.Themicrocontrollerusesthisniqueconsistsofdividingeachimageintoafixednumberofinformationtomanagethecameraorientation.Experimentshavesquareblocks,andforeachblockinsearchingthebestmatchingbeenconductedinrealconditionsandacc
7、eptabletargettrackingblockinthereferenceframeoveranareathatallowsfortheresultshavebeenobtainedontheprototypalhardware.maximumtranslationthattheencodercanuse[17].Thecom-IndexTerms—Digitalsignalprocessor,machinevision,mobileputationalloadofthisexhaustive
8、searchisveryheavyandin-robots,patternmatching,realtimesystems,searchmethods,fluencestheprocessingspeed.Toimproveperformance,sev-tracking.eraldifferentconceptscanbetakenintoconsideration.Besidesthehierarchicalmethods[11],[16],[22],thespe
