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Target Tracking Based on Particle Filter with Multi-path Particles

机译：基于多径粒子滤波的目标跟踪

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摘要

Visual tracking is a key issue for autonomous navigation, intelligent monitoring system and so on. While a Particle Filter for tracking is designed, the target in image may be out of range, and the tracked target will be lost since the target image size keeps changing. A method for tracking a mobile target with visual image, Particle Filter with multi-path particles (PFWMP), is proposed to solve the above problem in this paper. Here, the method is based on the wavelet transform incorporated in traditional Particle Filter, and particles are made to move in original image and the image processed by wavelet transform. The results show that the improved approach using multiple particles can enhance the robustness of tracking algorithm and improve tracking accuracy.
机译：视觉跟踪是自主导航，智能监控系统等的关键问题。设计用于跟踪的粒子过滤器时，图像中的目标可能会超出范围，并且由于目标图像大小不断变化，跟踪的目标将丢失。为了解决上述问题，提出了一种基于视觉图像的运动目标跟踪方法，即多径粒子滤波（PFWMP）。在此，该方法基于结合在传统粒子滤波器中的小波变换，并使粒子在原始图像中移动并通过小波变换处理图像。结果表明，采用多个粒子的改进方法可以提高跟踪算法的鲁棒性，提高跟踪精度。

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