物料输送智能监控中多运动目标跟踪方法研究

Research on Multiple Objects Tracking Method for Intelligent Monitoring of Material Handling

面向运动物料智能监控的需求,提出了一种多运动目标视觉跟踪方法。在运动目标检测中,将基于边缘检测的三帧差法和背景减法相结合,提高了检测目标轮廓的完整性,同时改善了目标的空洞现象和图像的噪点问题,为运动目标跟踪提供了有效的数据基础;基于数学形态学和面积阈值去噪对目标区域进行检测、分割、分类与标记,进一步结合卡尔曼滤波预测对多个运动目标同时进行跟踪与定位。实验表明:提出的多运动目标跟踪方法能够准确地对多个运动物料进行视觉检测与跟踪,同时能够满足系统可靠性与实时性要求。

Focused on needs of the intelligent monitoring of moving materials, a visual tracking method of multiple moving objects is proposed. In detection of moving objects, edge detection based three frames difference was combined with background subtraction, the integrality of the detected objects outline was improved, meanwhile the cavitation of the objects and the image noise were reduced, so the more effective data foundation was provided for moving objects tracking. The detection, segmentation, classification and marker for target areas were based on mathematical morphology and the area threshold denoslng, and Kalman filter prediction was further com- bined for tracking and positioning of multiple moving objects simultaneously. The experiment results show that the proposed method can visually detect and track multiple materials precisely, meanwhile the reliability and real-time performance requirements are guaranteed.