A semi-automatic method of tracking color objects in a video image sequence starts
by separating the objects on the basis of color and identifying an object of interest
to track. A Kalman predictive algotithm in used to predict the position of the
centroid of the object of interest through successive frames. From the predicted
position the actual centroid is measured and the position and velocity are smoothed
using a Kalman filter. Error recovery is provided in the event the centroid falls
outside the field of view or falls into an area of a different color, or in the
event the tracking algorithm breaks down.
