A target tracking method with self-restoration capacity based on a multi-stage
detector includes the steps of selecting a plurality of detectors of different types to be connected in series in combination with the concept of cascading
Adaboost multi-stage weak classifiers into a strong classifier, selecting a significance
detector for first-stage detection, selecting a classifier
assembly detecting module for second-stage detection, substituting the classifier
assembly detecting module into a
random tree to calculate the
posterior probability of a
positive sample in a probable area detected byfirst-stage detection, selecting a related filtering
detector for third-stage detection, calculating the relevance between a sample with the
posterior probability larger than a certain threshold andthe
positive sample initialized or obtained in the last frame so as to reduce accumulated errors caused by long-term tracking, determining the position with the maximum relevance as the target area inthe current frame through the multi-stage detector, sampling the determined position, supplementing the positive and
negative sample number of concentrated removed samples to ensure the reliability and number consistency of the samples, activating a redetection mechanism if the maximum value of the relevance is larger than a certain threshold, and detecting the area near the position again to search for a target.