Aiming at real-time and robustness requirement of target tracking requirement of mobile robot using monocular camera

an improved target tracking Camshift algorithm based on Kalman filter. To compensate the offset of the object appearring in the image sequences caused by camera and object relatively moving

use the Kalman predicted value as target initial position. When the object is lost from the tracking system

analyze the reasons at once. And accordingly

the size of search window is expanded adaptively

which act as the initial search window of next frame of Camshift algorithm. An real-time target tracking system for robot is developed to verify the effectiveness of the proposed algorithm. Experimental results show that the target tracking system using the proposed algorithm is capable of good real-time characteristic

and robustness.