A tracking algorithm for PTZ cameras

This paper presents a tracking algorithm for PTZ (pan-tilt-zoom) cameras. The tracked objects are Mini 1:43 scale RC cars that have been described by a unicycle model. The algorithm is based on the combination of EKF (Extended Kalman Filter) and PF (Particle Filters). A scanning procedure is used to explore the environment. Once targets are detected, EKF is used to predict their future position. PTZ are then moved in order to guarantee a certain probability of targets detection at the next time instant. If a target is lost, particle filters is exploited. If target is found again EKF is restored. If this does not happen in a predefined number of steps, the scanning procedure restarts.