Robust optical axis control of monocular active gazing based on pan-tilt mirrors for high dynamic targets

The real-time and stability performance are both crucial for the active vision system (AVS) to gaze the high dynamic targets (HDTs). This study focused on the robust optical axis control mechanism of monocular AVS based on pan-tilt mirrors. We proposed an adaptive self-window to accommodate the HDTs within the region of interest. The minimum-envelope-ellipse and unscented-Kalman-filter methods were proposed to compensate and predict the angle of optical axis when the HDTs were blocked. The static and dynamic compensation error rates were less than 1.46% and 2.71%, prediction error rate was less than 13.88%, improving the gazing stability while ensuring real-time performance.