In this paper, in order to maintain precision of detection of moving object, we propose novel multi-templates method based on orientation code matching under environment where multi-moving objects exist and where the change of illumination occurs. Further, by using an extended Kalman filter, we treat position estimation of moving object to obtain highly precise detection of moving object. In fact, we introduce an evaluation function defined by the distance of between information of detection position of moving object given by the past orientation code data and information of estimation position of moving object calculated by an extended Kalman filter, and then according to the evaluation value we decide the position of moving object on the image. By repeating the detection method above in time series image we track moving object. Finally, we perform experiment of tracking of mosquitoes which are arthropod, and then show effectiveness of our proposed method.
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