Adaptive Kalman filter based maneuvering target tracking

Visual servoing has been around for decades, but the time delay is still one of the most troublesome problems to achieve maneuvering target tracking. To circumvent the problem, in this paper, the Kalman filter is employed to estimate future position of the maneuvering object. In order to introduce the Kalman filter, the accurate time delays, which include the processing lag and the motion lag, need to be obtained. Thus, the delays of the visual control servoing systems are discussed, and a generic timing model for the system are provided. Then, we present a current statistical model for maneuvering target. An adaptive Kalman filter, which is evolved from the Kalman filter, is put forward based on the current statistical model. The results show that the modified adaptive filter can improve the ability of maneuvering target tracking.