Noise effects on centroid tracker aim point estimation

An investigation of errors due to noise in centroid tracker aim-point estimation is presented. The centroid tracker discussed is similar to the tracker described by A.L. Gilbert et al. (1980). Simplifications to this algorithm were made so that the derived models would be consistent with the actual tracker algorithm. Two statistical models are derived which relate image noise effects to computation of the target centroid. The first model, the simplified aim-point error model, is derived by assuming that the probabilities of incorrectly classifying target and background pixels are equal. The second model, the extended aim-point error model, is derived by assuming that the probability of incorrectly classifying a target pixel can differ from the probability of incorrectly classifying a background pixel. These models are described and their mathematical implication is discussed. Simulation results which verify the models are presented