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A Moving Target Tracking Method Based on Switched Kalman Filter

A Kalman filter and moving target technology, applied in the direction of instrumentation, image analysis, calculation, etc., can solve the problem of large tracking error, achieve good robustness, stable tracking effect, and suppress tracking error effect

Active Publication Date: 2022-01-18
SOUTH CHINA UNIV OF TECH
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  • Claims
  • Application Information

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Problems solved by technology

However, because the motion state of the moving target is unknown, the motion state may cause mutations and other reasons, the tracking error is large, and it is difficult to meet the requirements of practical applications. Tracking algorithms that lead to amplified tracking error are significant

Method used

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  • A Moving Target Tracking Method Based on Switched Kalman Filter
  • A Moving Target Tracking Method Based on Switched Kalman Filter
  • A Moving Target Tracking Method Based on Switched Kalman Filter

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Embodiment Construction

[0073] In order to better understand the present invention, the present invention will be further described below in conjunction with accompanying drawing:

[0074] The present invention is based on the moving target tracking method of the switch Kalman filter, figure 1 It is an algorithm block diagram of the present invention, and the specific implementation steps are as follows:

[0075] Step 1, the vision system collects image information, and obtains the position of the target in the robot coordinate system through template matching and camera projection transformation algorithm;

[0076] Step 2, initialize the state transition matrix, measurement matrix, error covariance matrix, and state iteration error covariance matrix of the Kalman filter;

[0077] Step 3: The Kalman filter estimates the moving speed of the target. If the motion monitor detects a sudden change in the moving state of the target, a switch signal is sent to the Kalman filter to reset the Kalman filter. ...

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Abstract

The invention discloses a moving target tracking method based on a switch Kalman filter, comprising the steps of: S1, the vision system collects image information to obtain the position of the target in the robot coordinate system; S2, the state transition matrix of the Kalman filter is initialized , measurement matrix, error covariance matrix, state iteration error covariance matrix; S3, use the motion monitor to monitor whether the movement speed of the target has a sudden change, if not, use the Kalman filter to estimate the movement speed of the target; if so, then First reset the target state vector of the Kalman filter, and then use the reset Kalman filter to estimate the movement speed of the target; S4, feed forward the estimated target movement speed to the robot visual servo controller to realize real-time dynamic track. The present invention can suppress the tracking error caused by the sudden change of the target motion state under the condition of the sudden change of the target motion state, and has stable tracking effect and good robustness.

Description

technical field [0001] The invention belongs to the field of robot control, mainly relates to visual-based moving target tracking, and in particular relates to a moving target tracking method based on a switch Kalman filter. Background technique [0002] The real-time tracking technology of moving objects has a wide range of application requirements in the field of robot production lines and service robots. However, because the motion state of the moving target is unknown, the motion state may cause mutations and other reasons, the tracking error is large, and it is difficult to meet the requirements of practical applications. Tracking algorithms that lead to amplified tracking errors are of great significance. Contents of the invention [0003] The object of the present invention is to overcome the deficiencies of the prior art, meet the existing demands, and provide a moving target tracking method based on a switch Kalman filter. The method uses the Kalman filter to es...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/277
CPCG06T7/277
Inventor 李琳林燕龙邹焱飚
Owner SOUTH CHINA UNIV OF TECH
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