Figure 12
From: Human tracking with an infrared camera using a curve matching framework
It may happen that due to a burst of speed, the target temporarily gets out of field of view of the sensor. In such cases, the last few values of the target's motion are used to interpolate his motion using curve matching. (a) The target picking up speed, while by the time the robot reacts in (b) the target is already out of sight. Interpolating the target's motion, the camera swings around and as we see in (c) it has the target back in its field of view, whereon it can be tracked normally.