Anti-Occlusion Target Tracking Method Based on Particle Filter and Weighted Surf
A technology of particle filtering and target tracking, which is applied in image data processing, instrumentation, computing, etc., can solve problems such as occlusion, and achieve the effect of ensuring reliability and alleviating particle degradation
Active Publication Date: 2018-01-23
西交思创智能科技研究院(西安)有限公司
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[0006] The purpose of the present invention is to overcome the occlusion problem in the existing video tracking application environment, and then introduce the occlusion evaluation mechanism, and propose a secondary target tracking framework for particle filter prediction and weighted Surf accurate positioning
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[0086] In order to further illustrate the technical means and effects adopted by the present invention to achieve the intended purpose, the specific implementation, structural features and effects of the present invention will be described in detail below in conjunction with the accompanying drawings and examples.
[0087] like figure 1 The flow chart of the anti-occlusion target tracking method based on particle filter and weighted Surf is shown, and the specific steps are as follows:
[0088] Step 1, target template initialization.
[0089] Take the target area of the first frame as the initial target template, extract the Surf feature points of the target template, and establish the color-weighted histogram of the target template p(x)={p u (x)}, u=1...m;
[0090]
[0091] where n h is the total number of pixels of the target template; m is the quantization order of the histogram in the color histogram; G is the Gaussian kernel function; C h for normalization, so t...
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The invention belongs to the video target tracking technology field and especially relates to an anti-occlusion target tracking method based on particle filtering and weighting Surf. The method comprises the following steps of firstly, initializing a target template; then, establishing a particle state transfer and observation model and using the particle filtering to predict a target candidate area; secondly, calculating an occlusion factor and determining whether a target generates occlusion; and then, if the target generates the occlusion, using extended Kalman filter to predict a target position again; if the target does not generate the occlusion, for the target candidate area determined by the particle filtering, extracting Surf characteristic points and matching with the target template, and accurately positioning the target position and an area; finally, according to the number of registering characteristic point pairs, deciding whether to use a forgetting factor mode to dynamically update the template. In the method, technologies of the particle filtering, occlusion determination, the extended Kalman filter, weighting Surf registering and the like are combined, tracking accuracy and robustness when the target generates the occlusion are increased and a good application prospect is possessed.
Description
technical field [0001] The invention belongs to the technical field of video target tracking, and specifically relates to an anti-occlusion target tracking method based on particle filter and weighted Surf, that is, to preliminarily predict the target through particle filter, and to realize partial occlusion or short-term full occlusion of the target in combination with extended Kalman. Predict the target, and propose weighted Surf to further precisely locate the target, so as to realize the secondary tracking from coarse to fine. Background technique [0002] Video object tracking is a cutting-edge research topic in the field of computer vision today, and it is also a hot issue. Its main task is to track the moving target in the sequence image, understand and describe the behavior of the target, and then perform other processing. Video target tracking has been used in many fields: intelligent transportation, security monitoring, military applications, human-computer intera...
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IPC IPC(8): G06T7/246
CPCG06T2207/20024
Inventor 朱娟娟许金利李诚闫允一张恩泽李海军
Owner 西交思创智能科技研究院(西安)有限公司