（信号与信息处理专业论文）双摄像机监控视频中目标的协同跟踪研究.pdf

? ? ? i ? ? ? ? ? ? ? ? ? ? ? camshift ? ? ? ? ? ? ? ? ? ? ? sift ? ? ? ? ? ? ? abstract ii abstract intelligent video surveillance system is now used more widely, and intelligent video analysis algorithm has arose great interest around researchers. one of the valuable topics is object tracking by cooperated dual cameras. in practical use, dual cameras cooperated object tracking system can enlarge field of vision, precisely fix the position of object, solve the problem that the object is covered, thus has a good practical foreground. the thesis studied some key problem under dual cameras cooperated object tracking system by designing an experiment system, and analyse the performance of the algorithms proposed. the thesis aim at solving the problems including object detecting and tracking, object handing over, and situation of scene with superposition or distance. object detecting and tracking is the first step of intelligent video surveillance. the thesis use inter-frame difference method to detect the moving object. we also introduce texture detection and contour detection to make the object detection more precise. we use camshift algorithm to accomplish the object tracking. cameras must communicate(exchange data) to ensure that the object could be properly handed over. the more information exchanged, the better the result would be, but cost of communication increased,while the less information exchanged, the worse the result would be.this thesis uses outter rectangle of object and chroma feature as exchanged information between dual cameras, and uses trace of object to achieve handing over it. in some case, when two scenes overlapped, mistake might occur while using trace for handing over.when two scenes has a distance between them, we need estimate to make the result more precise.we use sift to detect a boundary for the overlapped case, such that trace could be properly handed over. we use moving speed of object to estimate the time and position when it appear. finally, we discuss the case of multi-objects. we make a verification and analysis for our algorithms by experiment. key words? video surveillance, dual cameras, object detection, object tracking, cooperation ? ? ? ? ? ? ? ? ? ? ? ? ?象象象象象象象象象象象象?象象象象象象象象象象象象 ?_ ?_ ?_ ? ? ? 1 ? ? 康尔康 ? ? ?12? ? ? ? ? ? ? ? ? ? ?1? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? 2 ? ? ? ? ? ? 康尔很? ? ? ?(vsam)1? mit ? ? ? ? ? w4? ? ? ? ?intel?ibm ? microsoft ? ? ioimage ? ? (? dvtel ?)? objectvideo ? ? ? ? ?(nlpr)? ? ? ? ? ? ? iccv(international conference on computer vision)?cvpr(ieee ? ? ? 3 computer society conference on computer vision and pattern recognition)? icpr(international conference on pattern recognition)? iwvs(ieee international workshop on visual surveillance) ? pami(ieee transactions on pattern analysis and machine intelligence)? ijcv(international journal of computer vision)?pattern recognition?image and vision computing ? ?(?)? ? ? ? ? ? 康尔情? ? ? ? ? ?(model-based tracking)?(region-based tracking)? ?(active contour based tracking)? ?(feature-based tracking)?2?gavrila ? ?aggarwal ? ? ?3? ? ?4? ? ? ? ? ? ? ? ? ? 4 度实情实度 ? ? ?24? ?1?(region-based tracking) ? ? ? ? ? ?2?(active contour based tracking) ? ? ? ? ? ? ?3?(feature-based tracking) ? ? ? ? ? ? 度实情实性 ? ? ? ? ? ? ? ? 5 ? ? ?5? ?1? ? ? ?2? ? ? ?3? ? 度实情实情 ? ? ? ? ? 1-1 ? 康尔懈 ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? 1-1 ? ? ? ? 6 ? ? ? ? ? ? ? ? ? ? ? camshift ? ? ? ? ? ? ? ? sift ? ? ? ? ? ? ? ? 7 ? ? ? ? ? ? ?78? 很尔康? 性实度实度 ? ? ? ?9? ? ?12? ? ?),(jif?wjhi0 ,0?h?w? ?),(jig?),(jibg?(2-1)? ? ( , ) |( , )( , )|;0,0fg i jf i jbg i jihjw= (2-1) ?),(jifg?),(jifg ? ? ? ?),(jig? ?(2-2) ? = thresholdjifg thresholdjifg jig ),(, 0 ),(, 1 ),( (2-2) ? ? ? ? 8 ?),(jibg? ? t ? ?gmm?10? ? ? ? ? k ? ?k ? 35 ?(2-3)? = tk t tkittkit tk ntk tkt eif , ),(),( 2 1 2 1 , 2 , , )2( 1 ),|( (2-3) ? tk tk , ,? ?2-1 ? ? ? 0 ? 2 0 ? ? 0 ? 2 0 ?k? ? ? ? 0 ? 2 0 ? ?2-2? ? ? ?z-?2.5 y n n y ? ? ? 2-1 ? k = = + + + + = gb bgbrgr brgr brgr bgbrgr brgr h )()(2 )()( cosarc-2 )()(2 )()( arccos 2 2 ? (3-1) ),min( )( 3 1bgr bgr s + = (3-2) 3/ )(gbri+= (3-3) ?h? ?1?) , , min(bgrb =? ) 2(3 bgr bg h + = (3-4) ?2?) , , min(bgrr =? 3 1 2 + + = bgr rb h (3-5) ? ? ? 19 ?3?) , , min(bgrg =? 3 2 2 + + = bgr gr h (3-6) 情实性实性 ? ? ? ? ?rgb?hsv? ?h? ? ? ? 情实性实情 ? ? ? ? ? ?rgb? ? ? 情尔情 ? 情实情实度 ? meanshift? ? ? ?1?s? ? ? ? 20 ?2? ? = xy c yxim),( 00 (3-7) ?x?y? = xy c yxxim),( 10 (3-8) = xy c yxyim),( 01 (3-9) ?),( cc yx? 00010010 /mmymmx cc = (3-10) ?),(yxic?),(yx?x?y? ? ?3?s? 256/2 00 ms= (3-11) ?4?2?3? ? 情实情实性 camsh除ft ? ?camshift ?(continuous adaptive meanshift)? ? ? ? ? ? ?rgb ?hsv?h? ?)(nhist?n?0-255?2550)( iihist? ?)(nhist?)(nhist?0?255? ?(3-12)? 255, 0255 )(max )( )( 255, 0 = = i jhist ihist iprob j (3-12) ?)(iprob? ? ? ? 21 ? ? ? ? ? ? 情实情实情 camsh除ft ? camshift ? meanshift ? meanshift ? ? ?25? ?1? ?2? ?3? meanshift ? ?4?3?1?3? ? camshift ? 3-1 ? ? ? ? ? ? ? ? ? ? ? rgb ? ? ? hsv ? ? meanshift ? ? ? ? ? 3-1 camshift ? y n ? ? ? 22 情实情实? ? ? camshift ? camshift ? ? yuv ? cif ? 215 ? ? 3-2 ? ? ? camshift ? ? rgb ? hsv ? ? ? 3-2 ? ? ? ? ? ? ? ? ? ? ? ? ?)(nhist?0?255 ? ?3-3? 050100150200250 0 5 10 15 20 25 30 35 ? 3-2 ? ? ? ? 23 ? ? ? ? 3-4 ? ? 3-3 ? ? 1 ? ? 10 ? ? 25 ? ? 47 ? ? 54 ? ? 70 ? ? 95 ? ? 113 ? ? 150 ? ? 3-4 camshift ? ? ? ? 24 ?camshift ? ? ? 3-5 ?