Adaptive adjustment target tracking algorithm based on depth image

An adaptive adjustment and depth image technology, applied in the field of computer vision, can solve the problems of complex calculation and large amount of calculation, and achieve the effect of simple algorithm process, high positioning accuracy and improved tracking efficiency

Active Publication Date: 2016-01-20
SHANDONG UNIV
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AI Technical Summary

Problems solved by technology

[0004] The existing target tracking algorithm has complex calculations and a large amount of calculation, and when the running speed of the tracking target is basically stable, such cumbersome and complex algorithm calculations are not required

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0035] A depth image-based adaptive adjustment target tracking algorithm, the specific steps are as follows:

[0036] (1) Using a depth sensor to collect the depth image of the tracking target;

[0037] (2) Through the calibration of the depth camera, the relationship between the distance between the tracking target and the depth camera and the depth value of the center point of the tracking target is obtained; the specific steps include:

[0038] a. Keep the tracking target at the center of the field of view of the depth camera. Within the effective recognition range of the depth camera, between the tracking target and the depth camera, obtain the corresponding depth image through the depth camera at each interval ΔDist, and obtain a total of n frames of depth Image, the value range of ΔDist is 10mm, and the depth value of the center point of the tracking target in each frame of depth image is obtained;

[0039] b. Obtain n sets of data through step a, each set of data inclu...

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Abstract

The invention relates to an adaptive adjustment target tracking algorithm based on a depth image. The method comprises steps of: acquiring depth image information by using a depth sensor; by means of depth camera calibration, obtaining a relation between the distance between a tracked target and the depth camera and the depth value of the central point of the tracked target; achieving adaptive adjustment of a search radius according to the change of the depth value of the central point of the tracked target in order to accurately track the tracked target. The algorithm effectively solves problems of obstruction and overlapping between tracked targets while protecting the privacies of the tracked targets, is simple in process, effectively reduces calculating complexity, shortens running time, improves tracking efficiency, and is suitable for the fields of monitoring, video encoding, intelligent traffic, military industry and the like.

Description

technical field [0001] The invention relates to an adaptive adjustment target tracking algorithm based on a depth image, and belongs to the technical field of computer vision. Background technique [0002] With the introduction of the depth sensor, how to effectively use the depth information obtained by the depth sensor to solve key problems in computer vision has become a current research hotspot. Although human body tracking based on color images has made some progress, it is often interfered by factors such as illumination changes, shadows, object occlusions, and complex backgrounds. As a new data description method, depth image can not only save the spatial position information of objects, but also has the advantages of protecting privacy and not being affected by illumination changes. [0003] The depth camera can quickly calculate the depth information in real time, reaching tens to 100fps. The binocular stereo camera needs to use a complex correlation algorithm, an...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/20G06T7/00
CPCG06T2207/10028
Inventor 杨阳张宁刘云霞
Owner SHANDONG UNIV
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