Method for motion tracking based on predication

A technology of motion tracking and moving points, which is applied in the field of motion tracking, can solve the problems of difficult determination of covariance matrix, difficulty of quantification, large number of image pixels, etc., and achieve the effect of overcoming high computational cost, good robustness, and good tracking results

Inactive Publication Date: 2014-06-04
DALIAN LINGDONG TECH DEV
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Problems solved by technology

[0005] However, there are many problems in using Kalman filter for motion tracking: First, the covariance matrix of the system noise vector is necessary, and the system noise is caused by the acceleration of moving objects, and this covariance matrix is ​​difficult to determine
The covariance matrix of the observation noise is also necessary, but it is difficult to quantify
Secondly, the observation results are obtained by two-dimensional search method, which is a very time-co...

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Embodiment Construction

[0035] The present invention will be further described below in conjunction with the accompanying drawings. Such as figure 1 As shown, the implementation steps of the algorithm for the current moving point blob image frame are as follows:

[0036] Use the motion point cluster position extraction algorithm to obtain the position and size of all motion point clusters;

[0037] Discard too small moving blobs as noise (area less than 100 pixels);

[0038] For each moving point group, find the moving object whose predicted position rectangle and moving point group rectangle overlap on the moving object linked list—if the overlapping area between the moving point group rectangle and the moving object’s predicted position rectangle is greater than 1 of one of them / 2, then divide it into this moving object:

[0039] If more than one moving object satisfies this condition, the moving point group is split, and the part divided into each moving object does not exceed the prediction ...

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Abstract

The invention discloses a method for motion tracking based on predication. The method comprises the following steps that movable objects are initialized and motion tracking is conducted on a motor point cluster layer; the movable objects are tracked, the position of each movable object at the current moment is predicated according to the position of the movable object at the last moment in a predication stage, and which movable objects current frame motor point clusters belong are found in a correction stage; the movable objects disappear and the target change trend is corrected. Due to the fact that the motor point clusters are tracked through the prediction method and the correction method, the problem that one movable object is divided into multiple communication zones when the prediction position of the movable object is searched for the motor point clusters is solved. Due to the fact that motion tracking based on predication is adopted in the method, the defects that the tracking mode of a Kalman filtering system is large in calculated amount and can not be well adapted to actual motion change are overcome and a clear result of complex movable object tracking can be obtained.

Description

technical field [0001] The invention relates to a motion tracking technology, in particular to a motion tracking method based on prediction. Background technique [0002] Object detection technology is a hot spot in current research. After more than 20 years of development, target detection technology has made great progress and has become an important topic in the fields of pattern recognition, image processing, machine vision, and guidance. The ultimate goal of target detection is to accurately separate the target from the background in the video image sequence, then extract the background on the grayscale image sequence, and then extract moving point clusters, motion tracking, etc. [0003] In image processing for motion tracking, a connected region is called a motion point blob. In a moving point-cluster binary image, there are many connected areas, no matter whether the moving object is split into multiple connected areas or the moving object is only a part of a conne...

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Application Information

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IPC IPC(8): G06T7/20
Inventor 侯辛酉李勇
Owner DALIAN LINGDONG TECH DEV
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