Adaptive visual tracking system under changing lighting environment

A visual tracking system that can adapt to the changing lighting conditions is developed for a robot to track moving object flexibly in natural environment. Using FPGA, this system first measures the maximum output changes of the analog CMOS silicone retina and then adjusts the retina´s photoelectric accumulation time. Adaptive visual tracking under changing lighting environment is then realized by calculating the moving object´s image center of mass.