Abstract: Mean-Shift algorithm is a simple and efficient target tracking algorithm,but it can’t recognize occluded target and the target of scale changes.This paper proposed a scale adaptive target tracking algorithm for robot based on affine transformation.We defined the corner points,recognized target according to the defined corner points,and recognized the scale changes of target using affine transformation.Compared with relative algorithms,the proposed algorithm can re-cognize the occluded target effectively,and when the scale of target changes,the proposed algorithm can also recognize the target accurately.The analysis shows that,when there is less than 2×10⁴ pixels in an image and less than 25 frames per second in a video stream,the proposed algorithm can be used in real-time target tracking.

Key words: Scale,Robot,Target tracking,Image processing