The invention discloses a regional slow and
small target group tracking method, which mainly solves the problem of low real-time performance of multi-target tracking of a large-size image and improves the visible light target detection and tracking capability of a
target range. The implementation scheme is as follows: 1, an
image acquisition card acquires a high-resolution visible light
grayscale image in real time; 2, each frame of image is divided into a plurality of areas, a plurality of threads are started at the same time, and target detection and tracking are carried out on each area image block through one thread; performing synchronous
processing on the main thread and the plurality of sub-threads; 3, using a constrained local adaptive threshold method to detect a target group for the image block; 4, performing target group tracking on a detected target group in a
single image block by adopting Kalman filtering and a Hungary
algorithm; 5, when the target moves across the seam, unified target tracking ID
processing is carried out on the target at the seam; and 6, outputting the miss distance and the gate of each frame of target group. According to the invention, dynamic scene aerial target
group detection can be realized, the tracking
processing time of a large-size image is reduced, and the detection and tracking capability of a visible light target in a
target range is improved.