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The use of multiple hypothesis tracking has proven to provide significant performance benefits over the single hypothesis GNN or the PDA algorithm. Automotive sensors like radars, laser-scanners or vision systems are being integrated into vehicles for commercial or scientific purposes, in increasing numbers over the last years. As a result, there is profound literature on this area and several approaches...
This paper outlines the control algorithms used in a pan/tilt/zoom (PTZ) tracking system for an Unmanned Ground Vehicle (UGV), implemented as part of a computer-vision based autonomous convoying system. The system relies upon a Linear Quadratic Gaussian controller to keep the target centered in the camera's field of view using the pan and tilt degrees of freedom. A novel zoom controller, based upon...
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