1 简介 卡尔曼滤波器是目标状态估计算法中常用的滤波器,通过建立目标的状态模型并估计目标的运动速度及加速度,可以对目标质心的未来点进行预测,从而缩小搜索区域,克服由于目标被
1 简介
卡尔曼滤波器是目标状态估计算法中常用的 滤波器,通过建立目标的状态模型并估计目标的运 动速度及加速度,可以对目标质心的未来点进行预 测, 从而缩小搜索区域, 克服由于目标被局部遮挡 时造成的跟踪丢失问题 。
基于卡尔曼滤波器的运动目标跟踪算法通常 有以下步骤 。
1)计算运动目标的特征信息。为了对运动目标进行跟踪, 首先用外接矩形对运动目标进行标 定 ,然后计算运动目标的质心和外接矩形的宽和高
2)用得到的特征信息初始化卡尔曼滤波器。 由于初始化时对目标的速度以及目标外接矩形的 变化速度未知 ,所以对于这几个量初始化为 0。
3)用卡尔曼滤波器对下一帧中对应的目标区 域进行预测, 当下一帧到来后 , 在预测区域内进行 目标匹配 。
4)如果匹配, 则更新卡尔曼滤波器, 并记录下当前帧中的目标信息。 基于卡尔曼滤波器的运动目标跟踪算法模型 如图 1所示。下面将详细讨论其主要步骤。
2 部分代码
function varargout = MainTrack(varargin)% MAINTRACK MATLAB code for MainTrack.fig
% MAINTRACK, by itself, creates a new MAINTRACK or raises the existing
% singleton*.
%
% H = MAINTRACK returns the handle to a new MAINTRACK or the handle to
% the existing singleton*.
%
%进行扑拓处理
mask = imopen(mask, strel('rectangle', [3,3]));
mask = imclose(mask, strel('rectangle', [15, 15]));
mask = imfill(mask, 'holes');
%获取分析图像
[~, centroids, bboxes] = obj.blobAnalyser.step(mask);
%预测新的路径
for i = 1:length(tracks)
numAssignedTracks = size(assignments, 1);
for i = 1:numAssignedTracks
trackIdx = assignments(i, 1);
detectionIdx = assignments(i, 2);
centroid = centroids(detectionIdx, :);
uttongroup2_CreateFcn(hObject, eventdata, handles)
% hObject handle to uibuttongroup2 (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
%set(handles.radioCam,'value','1');
%set(handles.radioVideo,'value','0');
% --- Executes on button press in snapShot.
function snapShot_Callback(hObject, eventdata, handles)
% hObject handle to snapShot (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
camSwitch=get(handles.radioCam,'value');%获取radioWecam的数字，1或者0
switch camSwitch
case 1
frame=snapshot(handles.cam);
%delete(handles.h);
axes(handles.main);
imshow(frame);
case 0;
[fileName,pathName]=uigetfile({'*.avi';'*.mpeg';'*.mov'},'读入视频');
if(fileName == 0)
return;
end
str=[pathName,fileName];
set(handles.videoPath,'String',str);
set(handles.videoPath,'visible','on');
% handles.video = vision.VideoFileReader(str);
handles.video = VideoReader(str);
set(handles.timeLimit,'String',num2str(handles.video.Duration));
frame=readFrame(handles.video);
axes(handles.main);
imshow(frame);
end
handles.frame=frame;
set(handles.uiSelection,'Visible','on');
guidata(hObject,handles);%更新数据
% n=0.5;
% while n<get(handles.radioCam,'value')
% frame=snapshot(cam);
% imshow(frame);
% drawnow;
% end
% while n>get(handles.radioCam,'value')
% frame=step(handles.video);
% imshow(frame);
% drawnow;
% end
% --- Executes when selected object is changed in uiSelection.
function uiSelection_SelectionChangedFcn(hObject, eventdata, handles)
% hObject handle to the selected object in uiSelection
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% --- Executes during object creation, after setting all properties.
function radioFull_CreateFcn(hObject, eventdata, handles)
% hObject handle to radioFull (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
handles.areaSwitch=0;
guidata(hObject,handles);
% --- Executes during object creation, after setting all properties.
function selectArea_CreateFcn(hObject, eventdata, handles)
% hObject handle to selectArea (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% --- Executes during object creation, after setting all properties.
function radiobutton5_CreateFcn(hObject, eventdata, handles)
% hObject handle to radiobutton5 (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% --- Executes on slider movement.
function slider1_Callback(hObject, eventdata, handles)
% hObject handle to slider1 (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'Value') returns position of slider
% get(hObject,'Min') and get(hObject,'Max') to determine range of slider
% --- Executes during object creation, after setting all properties.
function slider1_CreateFcn(hObject, eventdata, handles)
% hObject handle to slider1 (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% Hint: slider controls usually have a light gray background.
if isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
set(hObject,'BackgroundColor',[.9 .9 .9]);
end
function saveName_Callback(hObject, eventdata, handles)
% hObject handle to saveName (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'String') returns contents of saveName as text
% str2double(get(hObject,'String')) returns contents of saveName as a double
% --- Executes during object creation, after setting all properties.
function saveName_CreateFcn(hObject, eventdata, handles)
% hObject handle to saveName (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% Hint: edit controls usually have a white background on Windows.
% See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
set(hObject,'BackgroundColor','white');
end
% --- Executes on button press in checkbox1.
function checkbox1_Callback(hObject, eventdata, handles)
% hObject handle to checkbox1 (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hint: get(hObject,'Value') returns toggle state of checkbox1
% --- Executes on button press in radiobutton9.
function radiobutton9_Callback(hObject, eventdata, handles)
% hObject handle to radiobutton9 (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hint: get(hObject,'Value') returns toggle state of radiobutton9
saveSwitch=get(hObject,'Value');
if saveSwitch>0.5
handles.saveSwitch=1;
set(handles.saveName,'Visible','on')
else
handles.saveSwitch=0;
set(handles.saveName,'Visible','off')
end
guidata(hObject,handles);
function timeLimit_Callback(hObject, eventdata, handles)
% hObject handle to timeLimit (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'String') returns contents of timeLimit as text
% str2double(get(hObject,'String')) returns contents of timeLimit as a double
% --- Executes during object creation, after setting all properties.
function timeLimit_CreateFcn(hObject, eventdata, handles)
% hObject handle to timeLimit (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% Hint: edit controls usually have a white background on Windows.
% See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
set(hObject,'BackgroundColor','white');
end
% --- Executes during object creation, after setting all properties.
function uibuttongroup4_CreateFcn(hObject, eventdata, handles)
% hObject handle to uibuttongroup4 (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
handles.f=[];%对figure的handles进行初始化
guidata(hObject,handles);
% --- Executes during object creation, after setting all properties.
function radiobutton9_CreateFcn(hObject, eventdata, handles)
% hObject handle to radiobutton9 (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
handles.saveSwitch=0;
guidata(hObject,handles);
function unitH_Callback(hObject, eventdata, handles)
% hObject handle to unitH (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'String') returns contents of unitH as text
% str2double(get(hObject,'String')) returns contents of unitH as a double
% --- Executes during object creation, after setting all properties.
function unitH_CreateFcn(hObject, eventdata, handles)
% hObject handle to unitH (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% Hint: edit controls usually have a white background on Windows.
% See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
set(hObject,'BackgroundColor','white');
end
3 仿真结果
4 参考文献
[1]武建, 张雷, 刘艋,等. 基于卡尔曼滤波器的运动目标跟踪的实现[J]. 硅谷, 2013(10):2.
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