当目标移出视野又再次出现后,关键点一致性匹配目标跟踪算法(consensus-based matching and tracking)仍能对目标进行稳定的跟踪,但当面对光照变化剧烈、目标旋转等复杂场景时,容易出现跟踪失败的情况。因此,将FREAK算法融合到关键点一...当目标移出视野又再次出现后,关键点一致性匹配目标跟踪算法(consensus-based matching and tracking)仍能对目标进行稳定的跟踪,但当面对光照变化剧烈、目标旋转等复杂场景时,容易出现跟踪失败的情况。因此,将FREAK算法融合到关键点一致性匹配算法中;为降低算法复杂度,引入卡尔曼(Kalman)滤波对目标位置进行预测,避免通过扫描整帧图像的方式提取其特征点。实验结果表明,融合FREAK特征描述的关键点一致性匹配算法在上述复杂场景下能够对目标进行稳定跟踪。展开更多
In this paper,we study how to design filters for nonlinear uncertain systems over sensor networks.We intoduce two Kalmantype nonlinear fitrs in centralied and dstrbute frameworks.Moreover,the tuning method for the par...In this paper,we study how to design filters for nonlinear uncertain systems over sensor networks.We intoduce two Kalmantype nonlinear fitrs in centralied and dstrbute frameworks.Moreover,the tuning method for the parameters of the filteres is established to ensure the consistency,i.e..the mean square error is upper bounded by a known parameter matrix at each time.We apply the consistent fiters to the track to-track association analysis of multi targets with uncertain dynamics.A novel track to-track asocaion algoritm is proposed to idenify whether two tracks are from the same target.It is proven that the resulting probability of mis.asociation is lower than the desired threshold.Numerical simulations on track.to track association are given to show the ffetives of the methods.展开更多
文摘当目标移出视野又再次出现后,关键点一致性匹配目标跟踪算法(consensus-based matching and tracking)仍能对目标进行稳定的跟踪,但当面对光照变化剧烈、目标旋转等复杂场景时,容易出现跟踪失败的情况。因此,将FREAK算法融合到关键点一致性匹配算法中;为降低算法复杂度,引入卡尔曼(Kalman)滤波对目标位置进行预测,避免通过扫描整帧图像的方式提取其特征点。实验结果表明,融合FREAK特征描述的关键点一致性匹配算法在上述复杂场景下能够对目标进行稳定跟踪。
基金the National Natural Science Foundation of China(Nos.11931018,61973299)the Beijing Advanced Innovation Center for Intelligent Robots and Systems(No.2019IRS09).
文摘In this paper,we study how to design filters for nonlinear uncertain systems over sensor networks.We intoduce two Kalmantype nonlinear fitrs in centralied and dstrbute frameworks.Moreover,the tuning method for the parameters of the filteres is established to ensure the consistency,i.e..the mean square error is upper bounded by a known parameter matrix at each time.We apply the consistent fiters to the track to-track association analysis of multi targets with uncertain dynamics.A novel track to-track asocaion algoritm is proposed to idenify whether two tracks are from the same target.It is proven that the resulting probability of mis.asociation is lower than the desired threshold.Numerical simulations on track.to track association are given to show the ffetives of the methods.
