| 基于特征约束和均值漂移的机动目标粒子跟踪 |
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| 引用本文： | 李海涛,吴培良,孔令富. 基于特征约束和均值漂移的机动目标粒子跟踪[J]. 控制与决策, 2010, 25(1)-152 |
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| 作者姓名： | 李海涛 吴培良 孔令富 |
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| 作者单位： | 燕山大学信息科学与工程学院,河北,秦皇岛,066004 |
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| 基金项目： | 国家863计划项目(2006AA04Z212);;河北省教育厅自然科学研究项目(Z2008473) |
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| 摘 要： | 粒子滤波是适用于非线性非高斯系统下目标跟踪的强有力工具．ＭｉｒｏＳｏｔ足球机器人系统可以作为研究机动目标跟踪问题的平台．对此，在分析ＭｉｒｏＳｏｔ系统目标特征的基础上，提出一种基于目标特征约束的均值漂移粒子滤波算法，利用约束和优化的思想提高粒子的质量并减少其数量．对比实验表明，该方法有效地克服了传统粒子滤波的计算量和粒子退化问题，保证了多机动目标跟踪的准确性和实时性．
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| 关 键 词： | ＭｉｒｏＳｏｔ机器人；机动目标；粒子滤波跟踪 |
| 收稿时间： | 2009-02-03 |
| 修稿时间： | 2009-04-22 |
Mean shift-based and feature-restricted particle filter for maneuver targets tracking |
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| LI Hai-tao,WU Pei-liang,KONG Ling-fu. Mean shift-based and feature-restricted particle filter for maneuver targets tracking[J]. Control and Decision, 2010, 25(1)-152 |
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| Authors: | LI Hai-tao WU Pei-liang KONG Ling-fu |
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| Affiliation: | College of Information Science and Engineering/a>;Yanshan University/a>;Qinhuangdao 066004/a>;China |
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| Abstract: | The particle filter can track targets in the situation of non-linearity and non-Gauss.MiroSot robot soccer system is used as the paltform.By analysing the features of targets in this system,a feature-restricted and mean shift-based particle filter algorithm is proposed,in which the thought of optimization from restriction is used to improve the quality of particles and decrease their quantity.The contrast experiments show that the proposed algorithm can overcome the disadvantage of traditional particle filt... |
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| Keywords: | MiroSot robot Maneuver target Particle filter tracking |
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