Designing a real-time target tracking system with higher order logic

An formal description for the target dynamics identification and prediction module (TDIPM) for a camera-based object recognition and tracking system in an active vision system is presented using a mechanization of real-time CSP in higher order logic (RTCSP-HOL). The formal description of the TDIPM includes a Kumar-Harous (see IEEE Transactions on Systems, Man, and Cybernetics, vol.24, no.10, p.1498, 1994) timed Petri net and the corresponding RTCSP specification. An informal description of the TDIPM is also given. The performance results of the TDIPM are shown to outperform significantly the standard recursive least squares (RLS) prediction technique