Gaze and zoom controls for visual tracking

Visual tracking is widely used in many applications such as security surveillance, robot navigation and industrial inspection. In this paper gaze and zoom controls for visual tracking with a monocular camera are considered. The gaze control keeps the camera pointing to the centroid of a moving object of interest to keep the object centered in each image. The zoom control adjusts the camera focal length to preserve the object at a desired constant image size. Both gaze control and zoom control are explicitly designed with simple formulas. Simulation results validate the controls.