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Color Based Omnidirectional Target Tracking

Z. El Kadmiri, O. El Kadmiri, S. El Joumani, Z. Kaddouri, L. Masmoudi


The main inconvenience of any detection or object-tracking algorithm based on color indices is its sensitivity to lighting changes. In fact, the representation of a color by its coordinates in a color space such as RGB, L*a*b*, or HSV implicitly includes information on the color illumination. Another disability that limits the performances for object tracking applications is the limited field of view (FOV) of conventional cameras. This paper addresses the problem of real-time moving-target detection, and tracking in dynamic environments. In this scenario, a mobile robot uses an omnidirectional camera to recognize, track and navigate toward a moving target. We propose a technique based on color detection less sensitive to illumination variation of the environment, using an omnidirectional camera with 360° FOV. Experimental results indicate that the proposed chromatic invariant method can effectively distinguish and track moving targets in indoor and outdoor environment.


Omnidirectional vision, Color indices, Object-tracking, HSV

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