Real-time Object Tracking of a Robot Head Based on Multiple Visual Cues Integration

Most visual tracking systems use single visual cue and usually fail in a complex environment. In this paper, first, different visual cues are analyzed for a pan-tilt robot head tracking system. Then, a visual cues integration method combining disparity, color and shape is proposed. Two computers linked with Memolink communication module ensure the robot head to track a moving object rapidly. The high robustness and real time performance of the system are confirmed by the experiments