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Optimized particle-based particle filter target tracking method

A target tracking and particle filter technology, applied in the field of target tracking, can solve the problems of lack of particles and low particle utilization

Inactive Publication Date: 2016-11-16
XIDIAN UNIV
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Problems solved by technology

[0006] The purpose of the present invention is to address the deficiencies in the above-mentioned prior art, and propose a particle filter target tracking method based on optimized particles, to solve the problems of particle shortage and low particle utilization rate in the particle filter method in target tracking, and reduce the tracking rate. The dependence of performance on the number of particles reduces the deviation of target state estimation and improves the accuracy of target tracking

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  • Optimized particle-based particle filter target tracking method
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  • Optimized particle-based particle filter target tracking method

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Embodiment Construction

[0037] Below with reference to accompanying drawing, technical scheme and effect of the present invention are further described:

[0038] refer to figure 1 , the specific implementation steps of the present invention are as follows:

[0039] Step 1. Initialize.

[0040] 1.1) Let the initial moment k=1, according to the initial state X of the target 0 , initialize the particle set at time k-1

[0041] { S k - 1 i } i = 1 N = { S k - 1 1 , S k - 1 2 , ... , S ...

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Abstract

The invention discloses a particle filter target tracking method based on optimized particles, which mainly solves the problems of particle shortage and low particle utilization rate in the tracking process of the existing particle filter video tracking algorithm. The implementation steps are: 1. Under the particle filter framework, the candidate target is obtained through target state prediction; 2. The gray statistical histogram of the candidate target is extracted as the candidate target feature; 3. The distance between the candidate target feature and the template is calculated , and the corresponding weight of the candidate target; 4. By optimizing the particles with lower weights, the optimized particle set is obtained; 5. Resampling the optimized particle set, and fusing the resampled particles to obtain the state estimation of the target value for reliable tracking of the target. The invention can effectively increase the diversity of particles, solve the particle shortage problem in the particle filtering process, improve the utilization rate of particles, and can be used in intelligent video monitoring, robot navigation, and road traffic control systems.

Description

technical field [0001] The invention belongs to the technical field of target tracking, in particular to a video target tracking method, which can be used in intelligent video monitoring, robot navigation and road traffic control systems. Background technique [0002] In video tracking research, the target tracking method based on particle filter has been widely used in video tracking due to its excellent characteristics in solving nonlinear problems and the compatibility of a relatively open tracking framework for various feature description methods. . However, the resampling process of the particle filter method will lead to poor particle diversity and serious particle shortage, which will make the particle utilization rate low and have a great impact on the tracking accuracy and computational efficiency of the tracking algorithm. Therefore, how to solve the problem of lack of particles in the particle filter algorithm and improve the utilization of particles has become a...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/20
CPCG06T2207/10016G06T2207/20081
Inventor 姬红兵刘月张文博张永权刘龙
Owner XIDIAN UNIV
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