Disturbance observer-based visual tracking control scheme for fast moving target

Zahir Ahmed Ansari; Madhav Ji Nigam; Avnish Kumar

doi:10.1117/1.OE.57.10.103104

16 October 2018 Disturbance observer-based visual tracking control scheme for fast moving target

Zahir Ahmed Ansari, Madhav Ji Nigam, Avnish Kumar

Author Affiliations +

Optical Engineering, Vol. 57, Issue 10, 103104 (October 2018). https://doi.org/10.1117/1.OE.57.10.103104

Abstract

An automatic video tracker gives tracking error after processing video frames. Since frame rate is limited to 25 or 30 Hz, tracking error update rate is also limited to this order. In addition, there is a processing delay of about one frame in calculating target movement. Due to these factors, track loop bandwidth is limited to 2 to 5 Hz. This restricts tracking performance against fast moving and accelerating targets. A control scheme has been proposed where dynamics between target and tracking system has been modeled as line-of-sight rate, caused by disturbance. This rate has been estimated using a disturbance observer and used to augment conventional tracking loop output. Combined signal has been used to steer line-of-sight of the tracking system and keep the target at aim-point mark. This has resulted in a highly accurate following of the fast moving target. Also, steering rate of camera motion has been controlled dynamically in accordance to its field-of-view and integration time during auto-acquisition of the target to avoid motion blur.

Citation Download Citation

Zahir Ahmed Ansari, Madhav Ji Nigam, and Avnish Kumar "Disturbance observer-based visual tracking control scheme for fast moving target," Optical Engineering 57(10), 103104 (16 October 2018). https://doi.org/10.1117/1.OE.57.10.103104

Received: 8 May 2018; Accepted: 19 September 2018; Published: 16 October 2018

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