Adaptive visual tracking system under changing lighting environment

Abstract

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.