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Multi-target tracking method and system under flicker noises

A multi-target tracking and flicker noise technology, applied in the field of target tracking, can solve the problem that the filter cannot be applied to the flicker noise environment

Inactive Publication Date: 2019-10-29
SHENZHEN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The main purpose of the present invention is to propose a multi-target tracking method and system under flicker noise to solve the problem that existing filters for multi-target tracking cannot be applied in flicker noise environments

Method used

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  • Multi-target tracking method and system under flicker noises
  • Multi-target tracking method and system under flicker noises

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Embodiment 1

[0035] like figure 1 As shown, the embodiment of the present invention proposes a multi-target tracking method under flicker noise, including steps S101 to S106.

[0036]Among them, the target at the previous moment and the target at the current moment refer to multiple tracking targets at different moments, and the distribution of the target in the area is represented by the distribution function and the label multi-Bernoulli filter density.

[0037] Wherein, step S101 to step S103 are prediction steps, step S104 is an update step, step S105 is a cropping step, and step S106 is an output step.

[0038] In the embodiment of the present invention, the implementation process of step S101 may be as follows:

[0039] Use k-1 to represent the previous moment, k to represent the current moment, and t k-1 Indicates the time at the previous moment, t k Indicates the time at the current moment;

[0040] The observation noise at the current moment obeys the Student's t distribution,...

Embodiment 2

[0115] like figure 2 As shown, Embodiment 2 of the present invention also provides a multi-target tracking system 20 under flicker noise, including but not limited to the following components:

[0116] The prediction module 21 is used to utilize the distribution function and label multi-Bernoulli filter density of each target at the previous moment to obtain the predicted distribution function and the predicted label multi-Bernoulli filter density of the existing target at the current moment through prediction;

[0117] The newborn target acquisition module 22 is used to set a preset distribution function and a preset label multi-Bernoulli filter density for the newborn target;

[0118] The merging module 23 is used to merge the preset distribution function of the newborn target and the preset label multi-Bernoulli filter density with the predicted distribution function and the predicted label multi-Bernoulli filter density of the existing target at the current moment, to obt...

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Abstract

The invention is suitable for the technical field of target tracking, and provides a multi-target tracking method and system under flicker noises, and the method comprises the steps: predicting a prediction distribution function and a prediction label multi-Bernoulli filtering density of an existing target at a current moment through the distribution function and label multi-Bernoulli filtering density of each target at a previous moment; setting a preset distribution function and a preset label multi-Bernoulli filtering density for the new target; combining the two distribution functions andthe label multi-Bernoulli filtering density to obtain a predicted distribution function and a predicted label multi-Bernoulli filtering density of each target at the current moment; and processing thepredicted distribution function and the predicted label multi-Bernoulli filtering density of each target at the current moment to obtain the distribution function and the label multi-Bernoulli filtering density of each target at the current moment, and taking the distribution function and the label multi-Bernoulli filtering density as the input of a filter at the next moment. According to the invention, the filter can accurately extract the target state of each target at the current moment in the flicker noise environment, and the multi-target tracking precision is improved.

Description

technical field [0001] The invention relates to the technical field of target tracking, in particular to a multi-target tracking method and system under flicker noise. Background technique [0002] The multi-Bernoulli filter can accurately estimate the number of targets and track target trajectories in clutter and noise environments, so it has been applied to many practical problems, such as radar target tracking, image data tracking, ground target tracking, sensor management, audio frequency And video data tracking, visual data tracking and cell tracking, and mobile multi-target tracking and other applications. [0003] However, the label multi-Bernoulli filter is mostly used when the noise is Gaussian noise, and the multi-target tracking effect in the flicker noise environment is not good. Therefore, how to effectively track multiple targets under flicker noise is a key technical problem that needs to be explored and solved. Contents of the invention [0004] The main ...

Claims

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Application Information

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IPC IPC(8): G06T7/246G06T5/00
CPCG06T7/246G06T2207/10016G06T5/70
Inventor 刘宗香黄炳坚武宏杰李良群
Owner SHENZHEN UNIV
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