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Figure 4(c). 258” image 
7. CONCLUSIONS 
In this study, we have presented the color-based and shape-based 
algorithms for object tracking and positioning on the video 
images recorded from a moving helicopter. The methods use 
color features as the basis to segment the desired object on the 
images and then employ shape features to track the object and 
position the feature point of the object on every image frames. 
The feature point of the object is then transformed to the ground 
coordinates with the aid of the orientation parameters of the 
camera. The position result from the video images is compared 
with that of the ground survey. The quantitative assessment 
indicates that the proposed method can position the object on the 
video image within the acceptable level of the accuracy. 
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