An FFT correlation tracker that is capable of effectively tracking targets
against non-uniform backgrounds in realtime, includes a background
correction implemented using a FFT with the 2-dimension sinc function.
The tracker tracks an object by effectively computing the first and third
terms of the mean-square-error function C(s,t) defined
as.function..times..times..function..times..times..function..times..times-
..function..function. ##EQU00001## This is done by first transforming the
first and third terms into the frequency domain, where the first term,
the background correction term, can be computed much more efficiently in
real-time by using the 2-dimension sinc function. Multiplications and
additions necessary to carry out the computations in the frequency domain
are then performed. Next, the resulting frequency-domain function is
transformed back into the spatial domain to form a correlation surface.
Finally, a minimum of the resulting correlation surface is found. The
location of the minimum corresponds to the location of the object being
tracked.