Vehicle tracking method combining target information and motion estimation

Abstract

The invention discloses a vehicle tracking method combining target information and motion estimation. The vehicle tracking method includes the following steps that step1, a target center pixel point coordinate x0 and a tracking window width h1 (1, w) are initialized; step2, motion information of a target is extracted, the color probability model Piu of the target is calculated; step3, a next frame of image sequence i is read, dimension changes of the target are determined in combination with motion information, and h1 (1, w) is updated; step4, a Kalman filter is used for estimating the predicated position y0^, in the current frame, of the target; step5, The position y1, in the current frame, of a target is positioned nearby the predicated position y0^ by the utilization of a Mean-Shift progress positioning; step6, the Kalman filter is updated, and then the method skips to the step3 to be continued. According to the dimension changes of the target and the background interference problem, in combination with the motion information of the target vehicle, model description is optimized, the window width of an MS algorithm kernel function is changed in a self-adaptation mode according to a dimension judgment mechanism, motion estimation is performed on the target through the Kalman filter, an MS algorithm initial search center is optimized, and the problem that an MS algorithm can not track a shielded vehicle is solved.

Description

technical field [0001] The invention belongs to the field of vehicle motion analysis, in particular to a vehicle tracking algorithm combined with target information and motion estimation. Background technique [0002] The vehicle tracking system based on computer vision consists of two parts: video acquisition and image processing, such as figure 1 shown. Firstly, after the video signal is acquired by the camera, the computer receives the analog signal from the video input terminal through the video acquisition card, collects the analog signal and quantifies it into a digital signal and stores it on the computer hard disk, and then realizes the tracking of the vehicle through digital image processing and tracking technology. track. [0003] MS (Mean-Shift) algorithm is a commonly used video image target tracking algorithm. Through the HSV feature of the target, the MS algorithm is used to realize the tracking of the target. The algorithm first extracts the color features...

AI Technical Summary

Problems solved by technology

However, when the target is occluded, the PS algorithm will mistakenly track the occluder, and the calculation of the PS algorithm is relatively large.

Images