| 融合多模型的粒子滤波运动目标实时跟踪算法 |
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| 引用本文： | 魏武,张亚楠,裴海龙,武林林. 融合多模型的粒子滤波运动目标实时跟踪算法[J]. 公路交通科技, 2010, 27(1) |
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| 作者姓名： | 魏武 张亚楠 裴海龙 武林林 |
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| 作者单位： | 1. 华南理工大学,自动化科学与工程学院,广东,广州,510640
2. 西安交通大学,能源与动力学院,陕西,西安,710049 |
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| 基金项目： | 国家自然科学基金重点资助项目(60736024) |
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| 摘 要： | 提出了一种融合多模型的粒子滤波跟踪新算法(MMGPF),并将其应用于行人与汽车跟踪。此跟踪算法特点在于:(1)将Camshift跟踪算法和AdaBoost分类器的输出作为观测值优化建议概率分布;同时,改进粒子滤波的算法结构,有效地提高了粒子滤波的采样效率;在不影响跟踪性能的情况下,大幅减少了跟踪所需粒子数。(2)用两种描绘子提高对似然性的估计。(3)采用两种有效措施提高算法的实时性。通过多模型融合,有效地解决了目标跟踪过程中由于目标相互遮挡、目标消失再重现、光照变化和目标与背景颜色相近所造成的跟踪丢失。行人和汽车的跟踪试验结果证明该算法具有鲁棒性和实时性。
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| 关 键 词： | 交通工程 多模型融合 粒子滤波 目标跟踪 Camshift AdaBoost |
Real-time Moving Target Tracking by Integrating Multiple Model into Particle Filtering |
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| WEI Wu,ZHANG Yanan,PEI Hailong,WU Linlin. Real-time Moving Target Tracking by Integrating Multiple Model into Particle Filtering[J]. Journal of Highway and Transportation Research and Development, 2010, 27(1) |
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| Authors: | WEI Wu ZHANG Yanan PEI Hailong WU Linlin |
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| Affiliation: | 1.School of Automation Science and Engineering;South China University of Technology;Guangzhou Guangdong 510640;China;2.School of Energy & Power Engineering;Xi'an Jiaotong University;Xi'an Shaanxi 710049;China |
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| Abstract: | A novel algorithm for integrating multiple model into particle filter,MMGPF,was proposed for moving target tracking and applied to pedestrian and vehicle tracking.It has some innovative characters:(a) The proposal probability distribution was optimized by incorporating the outputs of Camshift and AdaBoost into the IDPF framework,and the framework of particle filtering was improved,leading to efficiency improvement of the particle filter sampling and dramatically reduction of particle numbers without affecti... |
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| Keywords: | traffic engineering multiple model integration particle filtering target tracking Camshift AdaBoost |
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