| In this paper, the classical
task of mobile target tracking using a pan and tilt camera is considered.
We use recent results in motion-based visual servoing to deal with complex
targets whose shape and texture are unknown. The first method we present
consists in designing a control law directly from the estimated image motion.
This leads to compute the pan and tilt acceleration necessary to reduce
the tracking error. A second method, more efficient for target tracking,
consists in retrieving the target position in the image from its estimated
motion. This leads to classical image-based visual servoing. For both methods,
experimental results obtained at video rate are presented and discussed. |
