Detecting and tracking moving targets on omnidirectional vision |
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| Authors: | Shuying Yang Weimin Ge Cheng Zhang Pilian He |
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| Institution: | [1]School of Computer Science and Technology, Tianjin University, Tianjin 300072, China [2]Tianjin Key Lab of Intelligent Computing and Novel Software Technology, Tianjin University of Technology, Tianjin 300191, China |
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| Abstract: | A method was presented to implement the detecting and tracking of moving targets through omnidirectional vision. The method
combined optical flow with particle filter arithmetic, in which optical flow field was used to detect and locate moving targets
and particle filter was used to track the detected moving objects. According to the circular image character of omnidirectional
vision, the calculation equation of optical flow field and the tracking arithmetic of particle filter were improved based
on the polar coordinates at the omnidirectional center. The edge of a randomly moving object could be detected by optical
flow field and was surrounded by a reference region in the particle filter. A dynamic motion model was established to predict
particle state. Histograms were used as the features in the reference region and candidate regions. The mutual information
(MI) and Gaussian function were combined to calculate particle weights. Finally, the state of tracked object was computed
by the total particle states with weights. Experiment results show that the proposed method could detect and track moving
objects with better real-time performance and accuracy.
Supported by Tianjin Higher Education Technology Development Foundation (No.20071308), Tianjin Natural Science Foundation
(06YFJMJC03600) and National Natural Science Foundation of China (No.60773073).
YANG Shuying, born in 1964, female, Dr, Prof. |
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| Keywords: | omnidirectional vision optical flow particle filter mutual information |
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