Entropy based camera control for visual object tracking

In active visual 3D object tracking, one goal is to control the pan and tilt axes of the involved cameras to keep the tracked object in the centers of the fields of view. We present a novel method, based on an information theoretic measure, that manages this task. The main advantage of the proposed approach is that there is no need for an explicit formulation of a camera controller, such as a PID-controller or something similar. For the case of Kalman filter based tracking, we demonstrate the practicability and evaluate the accuracy of the proposed method in simulations as well as in real-time tracking experiments.