基于薄板样条函数的无人机多目标跟踪算法

针对无人机单机载相机运动下的多目标跟踪存在目标位置漂移和状态预测失效等问题,提出了一种基于薄板样条函数的无人机多目标跟踪方法.利用空间变换函数刻画无人机运动,构建无人机运动下的目标状态空间模型,利用外观特征初始化轨迹与量测对应关系,根据初始对应关系并计算薄板样条函数的最小二乘解求解出模型未知参数,进而根据模型预测轨迹运...

Multi-object tracking algorithm for UAV based on the thin plate spline function

The multi-object using Unmanned aerial vehicle, UAV monocular camera under object may have problems of position drift andfailure of state prediction. To address these issues, a multi-object tracking method for UAV based on the thin plate spline function isproposed, the UAV motion is formulated by the space transformation function. The state space model for UAV motion is established, andthe tracklets and detection correspondence are initialized by appearance characteristics. The unknown parameters of the model areobtained by calculating the least square solution of the thin plate spline function based on the initial correspondence. Then, the trackletsmotion state is predicted according to the model. And the appearance to data association is combined. In addition, the spacetransformation parameters are introduced into the Kalman filter equation to realize the optimal estimation of tracklets state under cameramotion. The process of tracklets initialization and termination, missed detection and false detection is realized by the effective trackletsmanagement method. Experimental results on UAV data set show that the proposed algorithm has better performance than the existingstate-of-the-art algorithms. Compared with the existing mainstream algorithm MDP, the multi-object tracking accuracy of the proposedalgorithm is increased by 2. 75% .