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A forward-looking sonar underwater target tracking method based on adaptive particle swarm optimization

A particle swarm optimization, forward-looking sonar technology, applied in the field of image processing, can solve problems such as large computational complexity and target loss

Active Publication Date: 2019-01-04
HARBIN ENG UNIV
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Problems solved by technology

[0004] In fact, when the underwater target in the forward-looking sonar image sequence is occluded, the Kalman filter will cause the target to be lost
Although particle filter is used as an approximate Bayesian filter algorithm based on Monte Carlo simulation for underwater target tracking with forward-looking sonar, it requires a large number of particles to achieve a better tracking effect, making its computational complexity larger

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  • A forward-looking sonar underwater target tracking method based on adaptive particle swarm optimization
  • A forward-looking sonar underwater target tracking method based on adaptive particle swarm optimization
  • A forward-looking sonar underwater target tracking method based on adaptive particle swarm optimization

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Embodiment Construction

[0089] The specific embodiment of the present invention will be further described below in conjunction with accompanying drawing:

[0090] combine figure 1 , the concrete steps of the present invention are as follows:

[0091] (1) Adaptively adjust the inertia weight of the particle swarm optimization algorithm

[0092] The Hu invariant moment feature has invariant features such as translation, rotation, and scaling. According to the characteristics of the forward-looking sonar image sequence, the Hu invariant moment feature is used to extract the feature of each particle. Assuming that the forward-looking sonar image function is f(x,y), then the (p+q) order geometric moment is p,q=0,1,2.... (p+q) order central moment is (x 0 ,y 0 ) is the center coordinate of the image, The normalized (p+q) order central moment is η pq =μ pq / μ r00 , The present invention utilizes seven invariant moments constructed by the normalized second-order and third-order central moments...

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Abstract

The invention relates to the technical field of image processing, in particular to a forward-looking sonar underwater target tracking method based on adaptive particle swarm optimization. The invention proposes that the inertia weight is adaptively adjusted by iterative number and fitness value, the exploration and development ability of the particles is balanced, and the particles can be quicklysearched for the global optimal solution. The random particle in the population is compared with the individual optimal value of the current particle, and the particle with larger individual optimal value is used to update the particle velocity and solve the problem that the particle is trapped in the local optimal value. When the underwater target is occluded, according to the occlusion condition, a new adaptive discrete swarm optimization algorithm is proposed to update the particles, and the forward-looking sonar underwater target tracking is finally completed. The invention has better tracking accuracy and faster tracking speed for underwater target tracking, and still has certain validity and adaptability when the target exists occlusion, the contrast changes greatly, the weak and small target is seriously affected by noise, and the like. The invention has good tracking accuracy and faster tracking speed for underwater target tracking.

Description

technical field [0001] The invention relates to the technical field of image processing, in particular to a forward-looking sonar underwater target tracking method based on adaptive particle swarm optimization. Background technique [0002] In recent years, with the continuous deepening of the understanding of the ocean, the strategic position of the ocean has become more and more important. Therefore, as an underwater detection and environmental perception device, sonar is of great significance for underwater exploration and research on ocean development. Forward-looking sonar is mainly used in the positioning, tracking, and obstacle avoidance of underwater targets. Due to the influence of underwater environmental noise, sonar's own noise, reverberation, multipath effect, etc., the generated image quality is poor, and many target tracking algorithms suitable for optical images cannot be applied to forward-looking sonar images. Forward-looking sonar underwater target tracki...

Claims

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Application Information

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IPC IPC(8): G06T7/246G06N3/00
CPCG06N3/006G06T2207/10016G06T2207/20004G06T2207/20081G06T7/246
Inventor 王兴梅王国强段兵华刘安华孙博轩
Owner HARBIN ENG UNIV
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