High Performance Real-time Object Detecting and Tracking System for Multiple Moving Targets

In this paper, high performance real-time object detecting and tracking system for multiple moving targets are proposed. The robot vision system which employs the proposed object detection and tracking scheme could identify color and compute the positions of object in real-time. The position information is calculated by using the color information embedded in the image and the proposed color models matching algorithm. Along with the proposed multiple targets tracking algorithm, the implemented system could detect and track up to seven targets in the field simultaneously and compute the position, velocity, and motion orientation of the objects in a speed of 1/30 seconds. The calculated information could then be provided to the decision making system and enables the system to make a proper decision of the strategy and control the soccer robots accordingly. Experimental results demonstrate that the propose method improve the effect of multiple moving targets detection, recognize target contour clearly.