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A real-time visual target tracking method based on optical flow

A real-time vision and target tracking technology, applied in the field of target tracking, can solve problems such as easy divergence, large amount of calculation, unstable tracking effect, etc., and achieve the effects of reducing influence, fast operation speed, and small amount of calculation

Inactive Publication Date: 2017-05-17
BEIHANG UNIV
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AI Technical Summary

Problems solved by technology

This type of algorithm has a large amount of calculation, the tracking effect is unstable, and it is easy to diverge.
[0007] To sum up, the problems existing in the existing technology are: the tracking of the target is greatly affected by the environment (such as illumination changes, target movement, camera movement), and does not support the shape update of the target.
At the same time, the amount of calculation is large, and it is difficult to meet the real-time requirements

Method used

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  • A real-time visual target tracking method based on optical flow
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  • A real-time visual target tracking method based on optical flow

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Embodiment Construction

[0026] The present invention will be further described in detail with reference to the accompanying drawings and embodiments.

[0027] The present invention is a real-time visual target tracking method based on optical flow, the method flow is as follows figure 1 shown, including the following steps:

[0028] Step 1, obtaining the initial position of the first frame image of the tracking target;

[0029] The initial position of the tracking target is known, and a rectangular box is given to indicate the position of the target. During the process of target tracking, the position of the target in each frame of image is represented by a rectangular box.

[0030] Step 2, get feature point sequence

[0031] The generally solved optical flow field is a dense motion field, which is usually used for navigation applications such as obstacle avoidance. However, in the target tracking problem, a dense optical flow field is not needed, and only the optical flow of some pixels on the ta...

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Abstract

The invention discloses a real-time visual target tracking method based on light streams. The method includes: screening feature points rich in textural features, and tracking the feature points between every two frames of images to obtain feature point matching relations; filtering the feature points with large matching errors through various filter algorithms such as normalized correlation coefficients, forward-reverse tracking errors and random consistency detection to retain most reliable feature points so as to obtain the target motion speed in images; using the target motion speed as observation quantity, and estimating through Kalman filtering to generate the target position. Compared with a tracking algorithm, the method has the advantages that the method is unaffected by light, the target can be stably tracked under the conditions that the target moves, a camera moves, the target is blocked for a short term and the like. The method is high in calculation efficiency, and the tracking algorithm is verified for the first time on an ARM platform.

Description

technical field [0001] The invention relates to a real-time visual target tracking method based on optical flow, and belongs to the technical field of target tracking. Background technique [0002] Visual target tracking is an important research direction in the field of machine vision. It detects, extracts, recognizes and tracks the target of interest in the image sequence, thereby providing the target's motion state parameters, such as position, velocity, acceleration and trajectory. In order to further process and analyze, realize the understanding of the behavior of moving targets, and provide raw data for subsequent applications (such as visual navigation, pose estimation and motion analysis, etc.), it has a wide range of applications in the fields of intelligent monitoring, human-computer interaction, robot navigation, etc. . In addition to the above civilian fields, visual target tracking technology has also received great attention in the military field, such as fie...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/246G06T7/277
Inventor 梁建宏高涵张以成管沁朴刘淼孙安琦杨兴帮吴耀王田苗
Owner BEIHANG UNIV
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