BEST: A real-time tracking method for scout robot

We propose a BEST (Background subtraction and Enhanced camShift Tracking) method for a scout robot tracking a moving object in real time. A modified back subtraction method based on time axis is used to segment the moving object in a complicated environment. The centroid and area are chosen as the feature to judge target. We proposed a novel method that combines Camshift, AWS (Adaptive Window Selecting method) and Kalman predicting algorithm together to track the detected object. Experiments based on a DSP image processing system in a scout robot indicate the feasibility and robustness of our method.