Remote-controlled weapon system in moving platform and moving target tracking method thereof

A method of tracking a moving target, performed by a remote-controlled weapon system that includes a camera and that is mounted in a moving platform, the method comprising:

• calculating a first pixel movement amount corresponding to a posture change amount of the camera during a time interval between a first image and a second image, that is obtained after the first image;
• calculating a second pixel movement amount corresponding to a control command for changing a posture of the camera to match, with an aiming point, the moving target, wherein the moving target is detected from the second image;
• calculating a third pixel movement amount corresponding to vibration of the camera based on the first pixel movement amount and the second pixel movement amount;
• and
• estimating a location of a region of interest (ROI) that is to be set on the moving target of the second image, based on the third pixel movement amount.

A non-transitory computer-readable medium storing computer code that is configured to, when executed by at least one processor of a remote-controlled weapon system that is mounted in a moving platform, cause the at least one processor to:

• calculate a first pixel movement amount corresponding to a posture change amount of a camera, of the remote-controlled weapon system, during a time interval between a first image and a second image, that is obtained after the first image;
• calculate a second pixel movement amount corresponding to a control command for changing a posture of the camera to match, with an aiming point, a moving target detected from the second image;
• calculate a third pixel movement amount corresponding to vibration of the camera based on the first pixel movement amount and the second pixel movement amount;
• and
• estimate a location of a region of interest (ROI) that is to be set on the moving target of the second image, based on the third pixel movement amount.