| 摘要 |
A mobile object image tracking apparatus includes at least one unit rotating about at least one axis, a camera sensor photographing a mobile object to acquire image data, a unit detecting a tracking error as a tracking error detection value, a unit detecting an angle of the rotary unit, a unit estimating the tracking error as a tracking error estimation value, a unit selecting the tracking error detection value when the mobile object falls within the field of view, and selecting the tracking error estimation value when the mobile object falls outside the field of view, a unit computing an angular velocity instruction value used to drive the rotating unit to track the mobile object, a unit detecting an angular velocity of the rotary unit, and a unit controlling the rotating unit to make zero a difference between the angular velocity instruction value and the angular velocity.
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