Pedestrian Tracking Method in Front of Intelligent Vehicle Based on Context-Aware Correlation Filter

Abstract

The invention belongs to the field of intelligent transportation and intelligent vehicle research, and relates to a vehicle-mounted pedestrian tracking method based on a context-aware correlation filter, comprising the following steps: 1. Initializing the position of the pedestrian to be tracked by manual calibration or by a pedestrian detector, and using a rectangular frame Determine the pedestrian, the position of the center point of the rectangular frame represents the central position of the pedestrian, the size of the rectangular frame represents the size of the pedestrian, and use the position and size as parameters to initialize the Kalman filter; 2. Training background perception correlation filter; 3. Training scale correlation filtering 4. Use the trained background-aware correlation filter and scale-related filter to detect the target in a new image frame, and selectively update the background-aware correlation filter and scale-related filter; 5. Return to step 4 until the tracking ends. The present invention is more suitable for unmanned driving in a vehicle-mounted environment; the present invention adopts a selective update method and can handle short-term occlusion and the like.

Description

technical field [0001] The invention belongs to the field of intelligent transportation and intelligent vehicle research, and relates to a method for tracking pedestrians in front of an intelligent vehicle based on a background perception correlation filter. Background technique [0002] The analysis of the motion behavior of pedestrians in front of the vehicle is an important basis for intelligent vehicle hazard identification, trajectory planning, driving decision-making, vehicle control, etc. Pedestrian motion tracking is an important basis for the analysis of pedestrian motion behavior. However, due to the relative motion of vehicles and pedestrians, pedestrian occlusion, changes in motion scenes, and time-varying motion postures, pedestrian tracking is more difficult. Therefore, it is urgent to establish a fast and effective pedestrian tracking algorithm to meet the needs of the development of intelligent vehicle technology. [0003] At present, the research on pedestr...

AI Technical Summary

Problems solved by technology

Although the above algorithm provides a reference for the research of pedestrian tracking in front of the vehicle, it is difficult to adapt to the rapid change of the scale of the pedestrian image under the relative motion of the pedestrian and the vehicle, pedestrian-related occlusion, and movement posture changes due to the fixed tracker framework of this type of algorithm. , leading to the loss or drift of the tracking target, resulting in tracking failure

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