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Multi-target tracking method and tracking system based on sequential Bayes filtering

A multi-target tracking and Bayesian filtering technology, applied in image analysis, instrumentation, computing, etc., to achieve wide practicability, ensure real-time performance, and solve the tracking problem of multiple maneuvering targets.

Inactive Publication Date: 2016-06-29
SHENZHEN UNIV
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Problems solved by technology

[0003] The technical problem to be solved by the present invention is to provide a multi-target tracking method and tracking system based on sequential Bayesian filtering, aiming to solve the tracking problem of multi-maneuvering targets whose motion modes are switched between different models

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  • Multi-target tracking method and tracking system based on sequential Bayes filtering

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Embodiment Construction

[0024] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0025] The multi-target tracking method based on sequential Bayesian filter of the present invention predicts, updates, fuses, generates and extracts the edge distribution and existence probability of each target, thereby solving the maneuvering target tracking that converts between different models problems and can process the measurement data received at the current moment in time.

[0026] Such as figure 1 As shown, the multi-target tracking method based on sequential Bayesian filtering includes the following steps:

[0027] Step A. After receiving the new measurement data, calculate the time ...

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Abstract

The invention relates to multi-sensor information fusion technology, and provides a multi-target tracking method based on sequential Bayes filtering. The tracking method comprises steps of predicting edge distribution of all targets in different models and existence probability thereof; according to the predicted edge distribution and the existence probability thereof, using the Bayes principle for processing so as to obtain updated edge distribution and existence probability thereof; fusing the updated edge distribution and the existence probability thereof so as to form updated edge distribution and existence probability thereof at present; combining the edge distribution and existence probability thereof of a new target with the updated edge distribution and the existence probability thereof so as to generate edge distribution and the existence probability thereof at preset; and cutting the edge distribution whose existence probability is smaller than a first threshold, and existing and outputting the edge distribution whose existence probability is larger than a second threshold value. In this way, real-time performance of data processing is ensured and a tracking problem for a multi-maneuvering object whose moving modes are transformed among different models is effectively solved.

Description

technical field [0001] The invention belongs to the technical field of multi-sensor information fusion, and in particular relates to a multi-target tracking method and tracking system based on sequential Bayesian filtering. Background technique [0002] Bayesian filtering technology can provide a powerful statistical method tool to help solve the fusion and processing of multi-sensor information under the condition of measurement data uncertainty. In order to solve the information delay problem caused by the multi-target Bayesian filtering method that the newly received measurement data cannot be processed in time and the multi-target tracking problem when the initial position of the target is unknown, we have proposed a solution. For details, please refer to the application No. CN201510284138.3, a patent application for a measurement-driven target tracking method and tracking system that transfers edge distribution. However, this method cannot effectively track the maneuve...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/20G06T7/00
CPCG06T7/20
Inventor 刘宗香邹燕妮吴德辉李良群
Owner SHENZHEN UNIV
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