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A Forward-Looking Sonar Underwater Target Tracking Method Based on Adaptive Particle Swarm Optimization

A particle swarm optimization and forward-looking sonar technology, applied in the field of image processing, can solve problems such as target loss and high computational complexity

Active Publication Date: 2021-07-06
HARBIN ENG UNIV
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Problems solved by technology

[0004] In fact, when the underwater target in the forward-looking sonar image sequence is occluded, the Kalman filter will cause the target to be lost
Although particle filter is used as an approximate Bayesian filter algorithm based on Monte Carlo simulation for underwater target tracking with forward-looking sonar, it requires a large number of particles to achieve a better tracking effect, making its computational complexity larger

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  • A Forward-Looking Sonar Underwater Target Tracking Method Based on Adaptive Particle Swarm Optimization
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  • A Forward-Looking Sonar Underwater Target Tracking Method Based on Adaptive Particle Swarm Optimization

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Embodiment Construction

[0089] The specific embodiment of the present invention will be further described below in conjunction with accompanying drawing:

[0090] combine figure 1 , the concrete steps of the present invention are as follows:

[0091] (1) Adaptively adjust the inertia weight of the particle swarm optimization algorithm

[0092] The Hu invariant moment feature has invariant features such as translation, rotation, and scaling. According to the characteristics of the forward-looking sonar image sequence, the Hu invariant moment feature is used to extract the feature of each particle. Assuming that the forward-looking sonar image function is f(x,y), then the (p+q) order geometric moment is p,q=0,1,2.... (p+q) order central moment is (x 0 ,y 0 ) is the center coordinate of the image, The normalized (p+q) order central moment is η pq =μ pq / μ r 00 , The present invention utilizes seven invariant moments constructed by the normalized second-order and third-order central moment...

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Abstract

The technical field of image processing that the present invention relates to is specifically a forward-looking sonar underwater target tracking method based on adaptive particle swarm optimization. The ability of exploration and development enables particles to quickly search for the global optimal solution; select random particles in the population to compare with the individual optimal value of the current particle, and use the particle with the larger individual optimal value of the two to update the particle’s optimal value. Speed, to solve the problem of particles falling into local optimum. When the underwater target is occluded, according to the occlusion of the target, a new update mechanism of adaptive discrete group optimization algorithm is proposed to update the particles, and finally the forward-looking sonar underwater target tracking is completed. The present invention has better tracking accuracy and faster tracking speed for underwater target tracking, and still has certain effectiveness and adaptability when the target has occlusion, large contrast change, weak and small target, and is seriously affected by noise.

Description

technical field [0001] The invention relates to the technical field of image processing, in particular to a forward-looking sonar underwater target tracking method based on adaptive particle swarm optimization. Background technique [0002] In recent years, with the continuous deepening of the understanding of the ocean, the strategic position of the ocean has become more and more important. Therefore, as an underwater detection and environmental perception device, sonar is of great significance for underwater exploration and research on ocean development. Forward-looking sonar is mainly used in the positioning, tracking, and obstacle avoidance of underwater targets. Due to the influence of underwater environmental noise, sonar's own noise, reverberation, multipath effect, etc., the generated image quality is poor, and many target tracking algorithms suitable for optical images cannot be applied to forward-looking sonar images. Forward-looking sonar underwater target tracki...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/246G06N3/00
CPCG06N3/006G06T2207/10016G06T2207/20004G06T2207/20081G06T7/246
Inventor 王兴梅王国强段兵华刘安华孙博轩
Owner HARBIN ENG UNIV
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