Abstract: A method and apparatus is disclosed for tracking an arbitrarily moving object in a sequence of images where the background may be changing. The tracking is based on visual features, such as color or texture, where regions of images (such as those which represent the object being tracked or the background) can be characterized by statistical distributions of feature values. The method improves on the prior art by incorporating a means whereby characterizations of the background can be rapidly re-learned for each successive image frame. This makes the method robust against the scene changes that occur when the image capturing device moves. It also provides robustness in difficult tracking situations, such as when the tracked object passes in front of backgrounds with which it shares similar colors or other features. Furthermore, a method is disclosed for automatically detecting and correcting certain kinds of errors which may occur when employing this or other tracking methods.

Abstract: A method and apparatus is disclosed, for construction and operation of an all terrain polymorphic tracked vehicle. The invention improves on the prior art by providing a mechanism whereby it is possible to vary the shapes of the tracks during operation of the vehicle. This capability facilitates negotiating obstacles and rough terrain, enables such vehicles to climb stairs or similar obstacles, and also enables self leveling of the vehicle on inclined terrain.

Abstract: A method and apparatus is disclosed, for construction and operation of an all terrain polymorphic tracked vehicle. This invention extends and improves on the prior art disclosed in USPTO patent pending “A polymorphic tracked vehicle”, filed August 2009, USPTO application Ser. No. 12/540,391. The improvement concerns a mechanism and method of operation by which a track mechanism can be polymorphic, but can also distribute the weight of the vehicle over multiple supporting wheels. In contrast, in most configurations of the mechanism disclosed in application Ser. No. 12/540,391, the weight of the vehicle rests on just two wheels per track (i.e. on four wheels if the vehicles possesses a left track and a right track).

Abstract: A method and apparatus is disclosed, for construction and operation of an all terrain polymorphic tracked vehicle. The invention improves on the prior art by providing a mechanism whereby it is possible to vary the shapes of the tracks during operation of the vehicle. This capability facilitates negotiating obstacles and rough terrain, enables such vehicles to climb stairs or similar obstacles, and also enables self leveling of the vehicle on inclined terrain.

Abstract: A method and apparatus is disclosed for tracking an arbitrarily moving object in a sequence of images where the background may be changing. The tracking is based on visual features, such as color or texture, where regions of images (such as those which represent the object being tracked or the background) can be characterized by statistical distributions of feature values. The method improves on the prior art by incorporating a means whereby characterizations of the background can be rapidly re-learned for each successive image frame. This makes the method robust against the scene changes that occur when the image capturing device moves. It also provides robustness in difficult tracking situations, such as when the tracked object passes in front of backgrounds with which it shares similar colors or other features. Furthermore, a method is disclosed for automatically detecting and correcting certain kinds of errors which may occur when employing this or other tracking methods.