A simple fuzzy logic real-time camera tracking system

A fuzzy logic control of camera pan and tilt has been implemented to provide real-time camera tracking of a moving object. The user clicks a mouse button to identify the object that is to be tracked. A rapid centroid estimation algorithm is used to estimate the location of the moving object, and based on simple fuzzy membership functions, fuzzy x and y values are input into a six-rule fuzzy logic rule base. The output of this system is de-fuzzified to provide pan and tilt velocities required to keep the image of the object approximately centered in the camera field of view.