机器人2011，Vol.33Issue(2)：181-190,10.DOI:10.3724/SP.J.1218.2011.00181
基于序贯检测机制的双目视觉运动目标跟踪与定位方法
Moving Objects Tracking and Localization with Binocular Vision Based on Sequential Detection Mechanism
摘要
Abstract
To improve the accuracy of object tracking in a complex environment, a binocular vision moving object tracking method is presented based on sequential detection scheme. The proposed method integrates particle filter, sparse field active contour and CamShift algorithms under sequential detection mechanism. Firstly, color-feature-based particle filter is adopted to estimate optimal tracking window. Then the similarity between object and the tracking windows determines whether sparse field active contour algorithm should be performed, whereafter the similarity between the contour and the object determines whether CamShift should be employed to modify the object contour. At last, object's location is obtained based on binocular disparity information and calibration model, and the disparity confidence interval criteria is introduced to decrease the impact of the noise effectively and enhance the object localization accuracy. Experiments demonstrate that the proposed method can effectively track and locate the moving object in both camera moving and object moving, and it is able to track and locate the object accurately in both target changes in scale, orientation, view and environment illumination changes.关键词
目标跟踪/序贯检测机制/双目视觉/粒子滤波/稀疏场主动轮廓Key words
object tracking/ sequential detection mechanism (SDM)/ binocular vision/ particle filter (PF)/ sparse field active contour (SFAC)分类
信息技术与安全科学引用本文复制引用
邱雪娜,刘士荣..基于序贯检测机制的双目视觉运动目标跟踪与定位方法[J].机器人,2011,33(2):181-190,10.基金项目
国家自然科学基金资助项目(60675043,60972163) （60675043,60972163）
浙江省科技计划资助项目(2007C21051,2009C33045) （2007C21051,2009C33045）
浙江省自然科学基金资助项目(Y1090426) （Y1090426）
浙江省教育厅科研项目(Y200803228) （Y200803228）
浙江省宁波市自然科学基金资助项目(2008A610002,2009A610090). （2008A610002,2009A610090）
