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An Immune Particle Filter Extended Object Tracking Method Fused with Color and Gradient Histograms

A gradient histogram and immune particle technology, applied in image analysis, image enhancement, image data processing, etc., can solve problems such as interference, trajectory crossing, tracking loss, etc., and achieve the effect of robust tracking results and improved diversity

Active Publication Date: 2020-09-01
HONGHE COLLEGE
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  • Claims
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Problems solved by technology

The difficulties of current tracking are mainly reflected in: 1) subject to the interference of complex background, the target motion information is prone to confusion; 2) when the target is blocked by obstacles, it is easy to lose tracking; 3) for multi-target scenes, it is easy to appear track crossing And other issues

Method used

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  • An Immune Particle Filter Extended Object Tracking Method Fused with Color and Gradient Histograms
  • An Immune Particle Filter Extended Object Tracking Method Fused with Color and Gradient Histograms
  • An Immune Particle Filter Extended Object Tracking Method Fused with Color and Gradient Histograms

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Embodiment Construction

[0051] Embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. This embodiment is carried out on the premise of the technical solution of the present invention, and the detailed implementation and specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.

[0052] Since the advent of particle filter, it has become the mainstream method to solve the parameter estimation and state filtering problems of nonlinear and non-Gaussian dynamic systems. At present, particle filter still has many key problems to be solved urgently, such as when the target is disturbed by the background of similar color, Only relying on a single feature cannot fully describe the target features, but gradients, textures, etc. contain corresponding target features, which show different characteristics in different environments, and these features can be integrated into targe...

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Abstract

The invention discloses an immune particle filtering extended target tracking method fusing color and gradient histograms. The method comprises the steps of firstly, manually selecting a to-be-tracked target, and establishing an initial particle and a weight value according to a state of the target, prior distribution and random sampling; secondly performing random sampling in a neighborhood of the to-be-tracked target by taking the to-be-tracked target as a center to obtain a new particle set, and calculating observation values of a color and a gradient direction to obtain particle weight values; thirdly estimating an effective particle number according to the particle weight values, if the effective particle number is smaller than a threshold, entering an immune particle set optimization process, and if the effective particle number is greater than the threshold, entering a re-sampling process; and finally estimating particle states, outputting a tracking result, and entering the next moment, until a video is ended. According to the method, the color histogram and the gradient direction histogram are fused, spatial structure information can be fully utilized for expressing target features, and an immune optimization algorithm is introduced under the condition of sample deficiency, so that the particle diversity is effectively improved and the tracking result is robuster.

Description

technical field [0001] The invention relates to an extended target tracking method, which is characterized in that the extended target tracking method of the immune particle filter combining color and gradient histogram is used for image processing, computer vision and target detection and positioning. The invention belongs to the technical field of target detection in a tracking system. Background technique [0002] Target tracking has always been a research focus in the field of computer vision, and has been widely used in security monitoring, target reconnaissance, and aviation guidance. The difficulties of current tracking are mainly reflected in: 1) subject to the interference of complex background, the target motion information is prone to confusion; 2) when the target is blocked by obstacles, it is easy to lose tracking; 3) for multi-target scenes, it is easy to appear track crossing And other issues. Target tracking methods generally include deterministic and proba...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/277G06T7/246G06T7/269
CPCG06T2207/10016
Inventor 郭红伟牛林刘婷骆洪军朱家兴
Owner HONGHE COLLEGE
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