This paper presents a set of real-time tracking system based on mean-shift and Kalman filter. The proposed system is
composed of two major modules. The host computer adopts tracking algorithm combining mean-shift with Kalman filter
to achieve the implementation of object tracking. The improvement of the proposed algorithm is that when the moving
vessels are largely occluded, the Kalman filter is updated by velocity vector which is estimated according to target
locations in the prior frames, and then the filter is exploited to implement tracking alone. The algorithm achieves good
tracking effect. The lower computer is a set of motion control system, consisting of high-performance camera and
numerical control PTZ (Pan/Tilt/Zoom). It could manipulate PTZ to track motive object simultaneously according to the
results from PC real-time tracking. Experimental results show that the system can implement marine moving object
tracking with good real-time performance and robustness.
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