Implementation of the multi-target tracker for MIROSOT

One of the most important design factor for the image tracker is the speed of the data processing which allows real-time operation of the system and provides reasonably accurate performance at the same time. Use of powerful DSP alone does not guarantee to meet such requirement. In this paper, a simple efficient algorithm for real-time multi-target image tracking is suggested. The suggested method is based on a recursive centroiding technique and color table look-up. This method has been successfully implemented in a image processing system for Micro-Robot Soccer Tournament(MIROSOT). This tracker can track positions of a ball, 3 enemies, and 3 agents at the same time. The experimental results show that the processing time for each frame of image is less than 7ms, which is well within the 60Hz sampling interval for real-time operation.