吉林大学学报(工学版) ›› 2015, Vol. 45 ›› Issue (2): 533-539.doi: 10.13229/j.cnki.jdxbgxb201502029

• Orignal Article • Previous Articles     Next Articles

Adaptive particle filter for object tracking based on fusing multiple features

YANG Xin1,2,3,LIU Jia1,ZHOU Peng-yu1,ZHOU Da-ke1   

  1. 1.College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016,China;
    2.School of Automation, Southeast University, Nanjing 210096,China;
    3.Key Laboratory of Photoelectric Control Technology,Luogyang 471000,China
  • Received:2013-07-01 Online:2015-04-01 Published:2015-04-01

RICH HTML

0   

PDF (PC)

410

Abstract: In target tracking using a single feature, the tracking robustness can not be guaranteed in the case of complex environments, and the increase in particle number will lead to in low efficiency of the algorithm. To overcome these problems, a multiple feature fusion strategy is chosen to ensure sustained and stable tracking. Using this strategy, the weights of features will be adjusted adaptively to the environmental changes, and the number of particles is adaptive to improve the efficiency of the algorithm. Experimental results show that the proposed algorithm can effectively solve the target rotation, target occlusion, background confusion and many other issues with high robustness.

Key words: automatic control technology, objects tracking, particle filter, multi-feature fusion, adaptive

CLC Number: 

  • TP29
[1] 叶龙,王京玲,张勤. 遗传重采样粒子滤波器[J]. 自动化学报, 2007, 33(8) :885-887.
Ye Long, Wang Jing-ling, Zhang Qin. Genetic resampling particle filter[J]. Acta Automatica Sinica, 2007, 33(8): 885-887.
[2] Wang Zhao-wen, Yang Xiao-kang, Xu Yi, et al . CamShift guided particle filter for visual tracking[J]. Pattern Recognition Letters (S0167-8655),2009,30(4):407-413.
[3] 高秀斌,丁盼盼,蒋长帅,等. 一种基于多特征融合的粒子滤波目标跟踪算法[J]. 扬州大学学报:自然科学版, 2013,16(1): 57-60.
Gao Xiu-bin, Ding Pan-pan, Jiang Chang-shuai, et al. A particle filter algorithm for objects tracking based on multi-feature fusion[J]. Journal of Yangzhou University(Natural Science Edition), 2013,16(1): 57-60.
[4] Kwok C, Fox D, Meil A M. Adaptive real-time particle filters for robot localization[C]∥IEEE International Conference on Robotics and Automation. USA: IEEE Press, 2003: 2836-2841.
[5] Bolic M, Djuric P M, Hong S. Resampling algorithms for particle filters: a computational complexity perspective[J]. Eurasip Journal on Applied Signal Processing (S1687-0433), 2004, 15(15): 2267-2277.
[6] Bolic M, Djuric P M, Hong S. Resampling algorithms and architectures for distributed particle filter[J]. IEEE Transaction on Signal Processing (S1053-587X), 2005, 53(7): 2442-2450.
[7] 胡士强,敬忠良. 粒子滤波原理及其应用[M]. 北京:科学出版社,2010:21-23.
[8] 刘士荣, 朱伟涛,杨帆,等. 基于多特征融合的粒子滤波目标跟踪算法[J]. 信息与控制, 2012,41(6):752-759.
Liu Shi-rong, Zhu Wei-tao, Yang Fan,et al. Multi-feature fusion based particle filter algorithm for object tracking[J]. Information and Control,2012, 41(6):752-759.
[9] Comaniciu D, Ramesh V, Meer P. Kernel-based object tracking[J]. IEEE Trans on Pattern Analysis and Machine Intelligence (S0162-8828), 2003, 25(5): 564-577.
[10] Katja N, Esther K M. Object tracking with an adaptive color-based particle filter[C]∥Proceedings of the 24th DAGM Symposium on Pattern Recognition, Zurich,2002: 353-360.
[1] GU Wan-li,WANG Ping,HU Yun-feng,CAI Shuo,CHEN Hong. Nonlinear controller design of wheeled mobile robot with H∞ performance [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1811-1819.
[2] LI Zhan-dong,TAO Jian-guo,LUO Yang,SUN Hao,DING Liang,DENG Zong-quan. Design of thrust attachment underwater robot system in nuclear power station pool [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1820-1826.
[3] ZHAO Wei-qiang, GAO Ke, WANG Wen-bin. Prevention of instability control of commercial vehicle based on electric-hydraulic coupling steering system [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1305-1312.
[4] WANG De-jun, WEI Wei-li, BAO Ya-xin. Actuator fault diagnosis of ESC system considering crosswind interference [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1548-1555.
[5] YAN Dong-mei, ZHONG Hui, REN Li-li, WANG Ruo-lin, LI Hong-mei. Stability analysis of linear systems with interval time-varying delay [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1556-1562.
[6] LIU Yuan-ning, LIU Shuai, ZHU Xiao-dong, CHEN Yi-hao, ZHENG Shao-ge, SHEN Chun-zhuang. LOG operator and adaptive optimization Gabor filtering for iris recognition [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1606-1613.
[7] ZHAO Hong-wei, LIU Yu-qi, DONG Li-yan, WANG Yu, LIU Pei. Dynamic route optimization algorithm based on hybrid in ITS [J]. 吉林大学学报(工学版), 2018, 48(4): 1214-1223.
[8] CAO Jing-hua, KONG Fan-sen, RAN Yan-zhong, SONG Rui-chen. Back pressure controller design of air compressor based on fuzzy self-adaptive PID control [J]. 吉林大学学报(工学版), 2018, 48(3): 781-786.
[9] TIAN Yan-tao, ZHANG Yu, WANG Xiao-yu, CHEN Hua. Estimation of side-slip angle of electric vehicle based on square-root unscented Kalman filter algorithm [J]. 吉林大学学报(工学版), 2018, 48(3): 845-852.
[10] ZHANG Shi-tao, ZHANG Bao, LI Xian-tao, WANG Zheng-xi, TIAN Da-peng. Enhancing performance of FSM based on zero phase error tracking control [J]. 吉林大学学报(工学版), 2018, 48(3): 853-858.
[11] CHEN Song, LI Xian-sheng, REN Yuan-yuan. Adaptive signal control method for intersection with hook-turn buses [J]. 吉林大学学报(工学版), 2018, 48(2): 423-429.
[12] WANG Lin, WANG Hong-guang, SONG Yi-feng, PAN Xin-an, ZHANG Hong-zhi. Behavior planning of a suspension insulator cleaning robot for power transmission lines [J]. 吉林大学学报(工学版), 2018, 48(2): 518-525.
[13] LIN Jin-hua, WANG Yan-jie, SUN Hong-hai. Improved feature-adaptive subdivision for Catmull-Clark surface model [J]. 吉林大学学报(工学版), 2018, 48(2): 625-632.
[14] HU Yun-feng, WANG Chang-yong, YU Shu-you, SUN Peng-yuan, CHEN Hong. Structure parameters optimization of common rail system for gasoline direct injection engine [J]. 吉林大学学报(工学版), 2018, 48(1): 236-244.
[15] ZHU Feng, ZHANG Bao, LI Xian-tao, WANG Zheng-xi, ZHANG Shi-tao. Gyro signal processing based on strong tracking Kalman filter [J]. 吉林大学学报(工学版), 2017, 47(6): 1868-1875.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
No Suggested Reading articles found!
Copyright © Journal of Jilin University(Engineering and Technology Edition), All Rights Reserved.
Tel: +86-431-85095297　Fax: +86-431-85094074　E-mail: xbgxb@jlu.edu.cn
Powered by Beijing Magtech Co. Ltd