The invention belongs to the
image processing field and relates to a multi-target tracking method and a
system based on kernel function
unsupervised clustering. According to the method, a binocular camera is utilized to acquire left and right sequence images at one same time, and parameters of the binocular camera are utilized for
image correction; a
parallax error is calculated through extracting image characteristic points and matching characteristics; the acquired
parallax error is utilized to calculate the coordinate position of a target
characteristic point relative to the camera, namely the coordinate of the camera, ground calibration is accomplished, ground shadow characteristic points can be filtered according to height from the
characteristic point to the ground, and ground shadow interference is eliminated; according to the three-dimensional coordinate
characteristic point, in combination with the kernel function,
unsupervised clustering is carried out for targets with undetermined category quantity, all characteristic points of one target are gathered to form one set, one category corresponds to the position and the direction of one observation value, a present frame of the target can be acquired in combination with the position and the direction of the previous frame target, namely the prediction position value and the prediction direction value, an optimum
estimation algorithm is utilized to acquire the position and the direction of the optimum target, and thereby the multi-target
fast tracking effect is realized.