CN108256394A - A kind of method for tracking target based on profile gradients - Google Patents
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Abstract
The present invention specifically discloses a kind of method for tracking target based on profile gradients, by the dividing candidate target from the initial frame of the video of input or image sequence, and extracts reference picture;Reference picture profile is extracted as standard feature template, and carries out scale, angular transformation, obtains multiple dimensioned multi-angle template sequence;The next frame of input video or image sequence extracts the Gradient Features of the target image;Multiple dimensioned multi-angle template sequence is carried out the sliding window that step-length is 1 on the characteristic image of target image to scan, and calculate the matched similarity of the two;According to information such as matching position, scale factor, angular factors, the subregion where being partitioned into target in the target image is updated as the reference picture detected next time;Until video or all frame detections of image sequence finish.The present invention seeks to:It is to provide a kind of method for tracking target based on profile gradients, to adapt to the dimensional variation of target and/or angle change, improves the accuracy of target following.
Description
Technical field
The invention belongs to computer image processing technology fields, specifically disclose a kind of target following side based on profile gradients
Method.
Background technology
In safety monitoring task, in order to realize the demand of Automatic Target Tracking, it is often necessary in video or sequential chart
Target location as determining area-of-interest in sequence, and the target location in each frame image is mapped.
The research contents of target following technology is broadly divided into following two aspects:One, in the video sequence that is captured
Moving target is detected, tracks, identifies and extracts information needed, such as the track of target and associ-ated motion parameters such as speed, adds
Speed, position etc..Two, it is predicted and is estimated with aid decision using every motion parameters on target of acquisition.Therefore, accurately
Extraction moving target is characterized in improving the premise of target following, identification and nicety of grading;And the accuracy tracked influences
The accurate and degree of difficulty of decision of the senior level.
Traditional target following technical solution can be described as follows:
(1) in the image sequence of acquisition on determine a template, commonly referred to as reference picture has been recorded in reference picture
Need tracked target;
(2) using each pixel of reference picture as characteristic point, primitive character point set is formed;Alternatively, in order to improve fortune
The efficiency of calculation is separated by out of reference picture and equidistantly pixel is uniformly extracted (process is referred to alternatively as equidistantly adopting
Sample), form primitive character point set;
(3) operation is made to primitive character point set and its neighborhood, obtains new feature point set, treated according to new feature point set
It matches and matching area is determined on image;
(4) gray scale or texture information between matching area and reference template are calculated, using the method for minimizing error, is led to
Iteration is crossed, obtains the matching factor matrix between matching area and reference picture, the wherein corresponding region of matching factor maximum value
As tracked target.
(5) step (3)-(4) are repeated to the image collected sequence, by the template matches between picture frame and frame, most
Target is realized eventually continuously to track.
Traditional method for tracking target, has the following disadvantages:
(1) after obtaining reference picture, as standard form, this is no longer updated.But in practical tracking system, with
Video camera when movement, scale or rotation occur for the movements of image capture devices, target, with this information it is possible to determine reference picture meeting portion
The picture acquisition range of point removal video camera, so as to reference picture subregion not in the image of subsequent image sequence,
According to initial reference image, then tracking can be caused to fail, go out the situation of active target.Therefore, design is a kind of has relatively by force
The tracking of antijamming capability has good application value.
(2) arbitrariness is also big for the characteristic point of the reference picture obtained, and the image information generally comprised is less, it is impossible to good table
Characteristics of image is levied, reliability, stability is not high so that track algorithm does not have good robustness.
(3) characteristic matching calculating is difficult to reach real-time, affects the response speed of target following.
Invention content
The purpose of the present invention is:It is to provide a kind of method for tracking target based on profile gradients, to adapt to the ruler of target
Degree variation and/or angle change improve the accuracy of target following;The profile of target is specified by sobel operator extractions first
And its then gradient vector obtains the template sequence of multiple dimensioned multi-angle as standard scale template by scale and angular samples
Row;Secondly, Optimum Matching information is obtained by template matching method, including position, scale factor and angular factors;Finally, root
The Optimum Matching region on target image is cut into according to Optimum Matching information, and using its profile and its gradient vector as newer
Standard scale template.
The purpose of the present invention is what is be achieved through the following technical solutions:
A kind of method for tracking target based on profile gradients, includes the following steps;
Step 1:The dividing candidate target from the initial frame of the video of input or image sequence, extracts comprising candidate target
Reference picture;
Step 2:The profile of target reference picture is extracted, obtains each pixel coordinate sequence p of reference picturei=(xi,yi)T
And its corresponding horizontal, vertical direction gradient sequence di=(ti,ui)T, as standard feature template;
If the size of target reference picture is m × n, detect that the number of marginal point is L according to preset threshold condition T, then i
=1,2,3 ..., m × n, wherein only L point is sobel marginal points, and the gradient corresponding to other non-edge points is defined as
(0,0);
The process of sobel edge detections is exactly to utilize all pixels of sobel operators and reference picture point and its neighborhood work
Then convolution determines the process of marginal point according to preset threshold condition T;
By sobel edge detections, point p can be obtainedi=(xi,yi)TAnd its corresponding gradient direction di=(ti,ui)T;
Step 3:Scale, angle d are carried out to standard feature templatei=(ti,ui)TTransformation, obtains multiple dimensioned multi-angle template
Sequence (Pi1',di)T, (Pi2',di)T, (Pi3',di)T..., (PiM',di)T, to enhance matched robustness;
Step 4:The next frame of input video or image sequence extracts the Gradient Features g of the target imager=(vr,wr)T;
Sobel edges are carried out using the method identical with step 2 and preset threshold condition for M × N target images to size
Detection, obtains the Gradient Features g of target imager=(vr,wr)T, wherein, r=1,2,3 ..., M × N, L' be the mesh detected
The number of marginal point in logo image, corresponding gradient has value when pixel is edge, is otherwise (0,0);
Step 5:By the multiple dimensioned multi-angle Prototype drawing (P of the M groups obtained in step 3i1',di)T, (Pi2',di)T, (Pi3',di
)T..., (PiM',di)TStep-length is carried out with the characteristic image of target image respectively to scan, and calculate for the sliding window of definite value
The matched similarity of the two, the similarity obtained under more all templates, all the window's positions, then similarity obtain maximum value institute
Corresponding the window's position, as best match position are the final results that present frame realizes target following;
Step 6:According to where best match position, scale factor and angular factors are partitioned into target in the target image
Subregion, and be updated the subregion next time as the reference picture detected;
Step 7:Step 2 is repeated to the content of step 6, until video or all frame detections of image sequence finish.
Further, standard feature template is carried out in the step 3 appropriate scale, angular transformation method, including:
A) by standard scale template sequence (pi,di)TEvery bit pi=(xi,yi)TAbscissa xiAmplification/diminution sxTimes, it indulges
Coordinate yiAmplification/diminution syTimes;
B) pass through different transformation factor sx、syAfter processing, multiple Analysis On Multi-scale Features template sequence (P are can obtaini1,di)T,
(Pi2,di)T, (Pi3,di)T..., (Pik,di)T, wherein k is the number for carrying out different scale transformation;
C) appropriate angular transformation is carried out to all Analysis On Multi-scale Features templates b) obtained, to Analysis On Multi-scale Features template sequence
(Pij,di)T, (j=1,2,3 ..., k) carry out angle be θ rotation, if rotating to be positive direction to the right, template sequence (Pij,di)T
Every bit Pij=(Xij,Yij)T, θ is rotated clockwise centered on (0,0), obtains point Pij'=(Xij',Yij')T, with mathematics public affairs
Formula can be expressed as:
D) the multiple dimensioned multi-angle template sequence (P of M groups is obtainedi1',di)T, (Pi2',di)T, (Pi3',di)T...,
(PiM',di)T。
Further, the change of scale factor sx、syRanging from 0.9~1.1, ranging from -30 ° to 30 ° of the angle, θ.
Further, in the step 5 similarity computational methods, including:
1) g is denoted as to any point (x, y), gradient direction on target imagex,y=(vx,y,wx,y)T;
2) when the feature templates window of reference picture is matched with an equal amount of range of certain in target image to be detected,
2 points of matching similarity s can be defined as:Same coordinate position in the eigenmatrix of feature templates matrix and target image
The sum of corresponding gradient vector angular separation normalization cosine value of point;
3) the gradient vector value of non-edge point is (0,0), therefore similarity can be reduced to the marginal point pair of same coordinate position
Answer the sum of gradient vector angular separation normalization cosine value:
In above-mentioned formula, (x, y) value is the coordinate in the sliding window position upper left corner in target image, generally can be direct
It with the point coordinates or is converted to the coordinate of window center point and represents the window's position, the value range of similarity s is 0~1;
4) by the multiple dimensioned multi-angle template (P of M groupsi1',di)T, (Pi2',di)T, (Pi3',di)T..., (PiM',di)T
The sliding window that step-length is 1 is carried out on the eigenmatrix of target image respectively to scan, more all templates, all the window's positions
Under obtained similarity, then similarity obtain the window's position corresponding to maximum value, as best match position, be present frame reality
The final result of existing target following.
Further, in the step 5 similarity quick calculation method, rolled up using Fast Fourier Transform (FFT) (FFT)
Product operation, frequency domain is transformed by similarity, including:
(1) for any one multiple dimensioned multi-angle feature templates (pik, dik)T, define two gradient direction Component Matrices Tx、
Ty, the size of matrix is m × n, and the value of m, n are respectively by pikThe maximin of horizontal, vertical coordinate determine;pik=(xik,
yik)T, dik=(tik,uik)T, according to pikIn coordinate value respectively to Tx、TyAssignment, by TxMiddle xthikArrange yikRow element is assigned a value of
tik, by TyMiddle xthikArrange yikRow element is assigned a value of;
(2) (1) same mode is used, assignment obtains two gradient direction Component Matrices O of target imagex、Oy, assignment side
Formula is similar;
(3)TxAnd OxConvolutional calculation, which is realized by FFT, is obtained
Wherein,
It is calculated:
Similarly, it is calculated:
(4) according to convolution and the equivalence relation of Fast Fourier Transform (FFT) (FFT), above-mentioned result of calculation is handled as follows
Obtained similarity matrix:That is the set of matching similarity s.
Beneficial effects of the present invention are as follows:
Firstth, the present invention handles Objective extraction profile gradients as feature, and using Grads threshold, has obtained base
In reasonable, the effective feature templates that marginal point gradient vector is characterized, the tracking of target can be effectively realized.
Secondth, the present invention has carried out appropriate scale and rotation transformation to feature templates, obtains multiple dimensioned multi-angle feature
Template, avoid because the movement of the image capture devices such as video camera or target, the scale of target or it is rotationally-varying caused by target
Loss problem.
Third, the present invention are partitioned into target and carry out real-time update to template in time, avoid in traditional approach using solid
Tracking failure problem caused by solid plate.
4th, compared with prior art, the present invention this method is used is characterized template, non-side based on marginal point gradient vector
Edge point is then not involved in the calculating process of characteristic matching, greatly reduces the calculation amount of characteristic matching.
5th, method of the invention is also characterized matched implementation and provides a kind of quick calculation method, realizes calculating
It reduces to the order of magnitude of amount, the requirement of real-time that can be well adapted in safety defense monitoring system.
Description of the drawings
To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention is made below in conjunction with attached drawing into
The detailed description of one step, wherein:
Fig. 1, which is that the present invention is based on the method for tracking target of profile gradients, to realize flow chart;
Fig. 2 is the schematic diagram of the slave initial frame dividing candidate target of the present invention;
Fig. 3 is the schematic diagram of the sobel operators of the present invention;
Fig. 4 is the image neighborhood of pixels schematic diagram of the present invention;
Fig. 5 is the standard feature template schematic diagram of the present invention.
Specific embodiment
Hereinafter reference will be made to the drawings, and the preferred embodiment of the present invention is described in detail.It should be appreciated that preferred embodiment
Only for illustrating the present invention, the protection domain being not intended to be limiting of the invention.
As shown in Figs. 1-5, embodiment one:A kind of method for tracking target based on profile gradients is provided, including:Feature templates
Foundation, the matching between feature templates and target image and feature templates three aspects of update content;
Step 1. is extracted from dividing candidate target in the initial frame of the video of input or image sequence comprising candidate target
Reference picture.Step diagram is as shown in Figure 2.According to the demand of practical application, the first step of the step as whole flow process,
Realization can be marked by hand, can also be realized by implementing complete partitioning algorithm to target.
Step 2. extracts profile to target reference picture, obtains each pixel coordinate sequence p of reference picturei=(xi,yi)T
And its corresponding horizontal, vertical direction gradient sequence di=(ti,ui)T, as standard feature template.
It should be strongly noted that if the size of target reference picture is m × n, side is detected according to preset threshold condition T
The number of edge point is L, then i=1,2,3 ..., m × n, wherein only L point is sobel marginal points, and other non-edge point institutes
Corresponding gradient is defined as (0,0).
The process of sobel edge detections is exactly the institute using sobel operators (Gx, Gy as shown in Figure 3) and reference picture
There are pixel and its neighborhood to make convolution, the process of marginal point is then determined according to preset threshold condition T.
If certain pixel (x, y) and its neighborhood territory pixel Distribution value in reference picture are as shown in Figure 4.
By sobel edge detections, point p can be obtainedi=(xi,yi)TAnd its corresponding gradient direction di=(ti,ui)T,
Wherein, the coordinate value of gradient direction is as follows:
In this way, just obtain the blank of feature templates --- with the Gradient Features d of reference picturei TThe set/sequence of composition,
Referred to herein as standard feature template, size is identical with reference picture, size be m × n, the example of the distribution of Gradient Features value
As shown in Figure 5.
Step 3. carries out scale, angular transformation to standard feature template, obtains multiple dimensioned multi-angle template sequence (Pi1',
di)T, (Pi2',di)T, (Pi3',di)T..., (PiM',di)T, to enhance matched robustness.
Appropriate change of scale is carried out to standard feature template, even if standard scale template sequence (pi,di)TEvery bit pi
=(xi,yi)TAbscissa xiAmplify (diminution) sxTimes, ordinate yiAmplify (diminution) syTimes, take change of scale factor sx、syModel
Enclose is 0.9~1.1.If use Pi=(Xi,Yi)TRepresent change of scale after as a result, then the process mathematical formulae can be expressed as:
By different transformation factor sx、syAfter processing, multiple Analysis On Multi-scale Features template sequence (P are can obtaini1,di)T, (Pi2,
di)T, (Pi3,di)T..., (Pik,di)T, wherein k is the number for carrying out different scale transformation.
Further, appropriate angular transformation is carried out to obtained all Analysis On Multi-scale Features templates.With a left side for reference picture
Centered on upper angle, to Analysis On Multi-scale Features template sequence (Pij,di)T, (j=1,2,3 ..., k) carry out angle be θ rotation, if
Positive direction is rotated to be to the right, takes ranging from -30 ° to 30 ° of angle, θ.Template sequence (Pij,di)TEvery bit Pij=(Xij,
Yij)T, θ is rotated centered on (0,0), obtains point Pij'=(Xij',Yij')T, can be expressed as with mathematical formulae:
Be not limited to herein in a manner that rotation center is in the reference picture upper left corner, if selection reference picture center etc. other
Fixed point is the same as rotation center, essence with the present embodiment.
By above-mentioned processing, the multiple dimensioned multi-angle template sequence (P of M groups is finally obtainedi1',di)T, (Pi2',di)T, (Pi3',
di)T..., (PiM',di)T。
The multiple dimensioned multi-angle feature templates obtained using the above process, can overcome since the Image Acquisition such as video camera are set
Standby or target movement, the scale of target or target caused by angle change lose problem, have good robustness, and transformed
Journey simply, conveniently, has good real-time.
The next frame of step 4. input video or image sequence extracts the Gradient Features g of the target imager=(vr,wr)T:
Sobel edges are carried out using the method identical with step 2 and preset threshold condition for M × N target images to size
Detection, obtains the Gradient Features g of target imager=(vr,wr)T, wherein, r=1,2,3 ..., M × N, L' be the mesh detected
The number of marginal point in logo image, corresponding gradient has value when pixel is edge, is otherwise (0,0).
The specific implementation method of the step is shown in step2, and details are not described herein again.
Step 5. is by the multiple dimensioned multi-angle Prototype drawing (P of the M groups obtained in step 3i1',di)T, (Pi2',di)T, (Pi3',di
)T..., (PiM',di)TThe sliding window that step-length is 1 is carried out with the characteristic image of target image respectively to scan, and calculate two
The matched similarity of person.When similarity obtains maximum value, corresponding position is best match position, is carried out matched multiple dimensioned
Multi-angle template sequence can provide the information such as scale factor, the angular factors corresponding to best match.Specific matching algorithm is as follows.
If g is denoted as to any point (x, y), gradient direction on target imagex,y=(vx,y,wx,y)T.The spy of reference picture
Sign template window is with an equal amount of range of certain in target image to be detected when being matched, and 2 points of matching similarity s can be with
It is defined as:Feature templates matrix gradient vector angular separation corresponding with the point of same coordinate position in the eigenmatrix of target image
Normalize the sum of cosine value.
In fact, because the gradient vector value of non-edge point is (0,0), therefore similarity can be reduced to same coordinate position
Marginal point pair answers the sum of gradient vector angular separation normalization cosine value.It can be expressed as with mathematical formulae:
In above-mentioned formula, (x, y) value is the coordinate in the sliding window position upper left corner in target image, generally can be direct
It with the point coordinates or is converted to the coordinate of window center point and represents the window's position, the value range of similarity s is 0~1.
By the multiple dimensioned multi-angle template (P of M groupsi1',di)T, (Pi2',di)T, (Pi3',di)T..., (PiM',di)TPoint
It carries out the sliding window that step-length is 1 not on the eigenmatrix of target image to scan, under more all templates, all the window's positions
Obtained similarity, then the window's position corresponding to similarity acquirement maximum value, as best match position, are that present frame is realized
The final result of target following.
It can be seen that feature is used as by sobel operator extraction profile gradients vectors and is matched, with regard to only need pair in calculating
Marginal point is calculated, and compared with traditional feature templates, greatly reduces calculation amount, improves the real-time of algorithm.
Step 6. is partitioned into target in the target image according to information such as Optimum Matching position, scale factor, angular factors
The subregion at place, and be updated the subregion next time as the reference picture detected.
Step 7. repeats step 2 to the content of step 6, until video or all frame detections of image sequence finish.
Embodiment two:The calculating of similarity in embodiment one, feature templates and the target image for being related to reference picture are special
Levy convolution algorithm of the matrix in certain window ranges inside gradient characteristic value.Although feature based gradient corresponds to Grad in non-edge point
For the definition of (0,0), which has greatly reduced calculation amount compared to the matching process of traditional characteristic.But the meter of convolution
It calculates mechanical, lengthy and jumbled or a large amount of time can be consumed, cause, the calculating of above-mentioned matching similarity is difficult to reach real-time.
Therefore, a kind of method quickly calculated is provided here, convolution algorithm is carried out using Fast Fourier Transform (FFT) (FFT),
Similarity is transformed into frequency domain, specific method is as follows:
Step1. for any one multiple dimensioned multi-angle feature templates (pik, dik)T, define two gradient direction Component Matrices
Tx、Ty, the size of matrix is m × n, and the value of m, n are respectively by pikThe maximin of horizontal, vertical coordinate determine.pik=
(xik,yik)T, dik=(tik,uik)TAccording to pikIn coordinate value respectively to Tx、TyAssignment, by TxMiddle xthikArrange yikRow element is assigned
It is worth for tik, by TyMiddle xthikArrange yikRow element is assigned a value of.
Step2. the same manner is used, assignment obtains two gradient direction Component Matrices O of target imagex、Oy, assignment mode
It is similar.
Step3. consider TxAnd OxConvolutional calculation, which is realized by FFT, is obtained
Wherein,
It is calculated:
Similarly, it is calculated:
Step4. according to convolution and the equivalence relation of Fast Fourier Transform (FFT) (FFT), above-mentioned result of calculation is carried out as follows
Handle obtained similarity matrix:That is the set of matching similarity s.
According to position of the maximum similarity in the similarity matrix is obtained, feature templates can be obtained in the target image most
The result of target following is realized in good matched position.
By using the mode quickly calculated, the calculation amount of characteristic matching is reduced in which can realize the order of magnitude, reaches real-time
The target of calculating.
Finally illustrate, the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although with reference to compared with
The present invention is described in detail in good embodiment, it will be understood by those of ordinary skill in the art that, it can be to the skill of the present invention
Art scheme is modified or replaced equivalently, and without departing from the objective and range of the technical program, should all be covered in the present invention
Right in.
Claims (5)
1. a kind of method for tracking target based on profile gradients, it is characterised in that:Include the following steps;
Step 1:The dividing candidate target from the initial frame of the video of input or image sequence, extracts the ginseng comprising candidate target
Examine image;
Step 2:The profile of target reference picture is extracted, obtains each pixel coordinate sequence p of reference picturei=(xi,yi)TIt is and its right
The level answered, the gradient sequence d of vertical directioni=(ti,ui)T, as standard feature template;
If the size of target reference picture is m × n, detect that the number of marginal point is L according to preset threshold condition T, then i=1,
2,3 ..., m × n, wherein only L point is sobel marginal points, and the gradient corresponding to other non-edge points be defined as (0,
0);
The process of sobel edge detections is exactly rolled up using all pixels of sobel operators and reference picture point and its neighborhood
Then product determines the process of marginal point according to preset threshold condition T;
By sobel edge detections, point p can be obtainedi=(xi,yi)TAnd its corresponding gradient direction di=(ti,ui)T;
Step 3:Scale, angle d are carried out to standard feature templatei=(ti,ui)TTransformation, obtains multiple dimensioned multi-angle template sequence
(Pi1',di)T, (Pi2',di)T, (Pi3',di)T..., (PiM',di)T, to enhance matched robustness;
Step 4:The next frame of input video or image sequence extracts the Gradient Features g of the target imager=(vr,wr)T;
Sobel edge detections are carried out using the method identical with step 2 and preset threshold condition for M × N target images to size,
Obtain the Gradient Features g of target imager=(vr,wr)T, wherein, r=1,2,3 ..., M × N, L' be the target image detected
The number of middle marginal point, corresponding gradient has value when pixel is edge, is otherwise (0,0);
Step 5:By the multiple dimensioned multi-angle Prototype drawing (P of the M groups obtained in step 3i1',di)T, (Pi2',di)T, (Pi3',di
)T..., (PiM',di)TStep-length is carried out with the characteristic image of target image respectively to scan, and calculate for the sliding window of definite value
The matched similarity of the two, the similarity obtained under more all templates, all the window's positions, then similarity obtain maximum value institute
Corresponding the window's position, as best match position are the final results that present frame realizes target following;
Step 6:Sub-district according to where best match position, scale factor and angular factors are partitioned into target in the target image
Domain, and be updated the subregion next time as the reference picture detected;
Step 7:Step 2 is repeated to the content of step 6, until video or all frame detections of image sequence finish.
2. a kind of method for tracking target based on profile gradients according to claim 1, it is characterised in that:The step 3
In standard feature template is carried out appropriate scale, angular transformation method, including:
A) by standard scale template sequence (pi,di)TEvery bit pi=(xi,yi)TAbscissa xiAmplification/diminution sxTimes, ordinate
yiAmplification/diminution syTimes;
B) pass through different transformation factor sx、syAfter processing, multiple Analysis On Multi-scale Features template sequence (P are can obtaini1,di)T, (Pi2,di
)T, (Pi3,di)T..., (Pik,di)T, wherein k is the number for carrying out different scale transformation;
C) appropriate angular transformation is carried out to all Analysis On Multi-scale Features templates b) obtained, to Analysis On Multi-scale Features template sequence (Pij,
di)T, (j=1,2,3 ..., k) carry out angle be θ rotation, if rotating to be positive direction to the right, template sequence (Pij,di)TIt is every
One point Pij=(Xij,Yij)T, θ is rotated clockwise centered on (0,0), obtains point Pij'=(Xij',Yij')T, can with mathematical formulae
To be expressed as:
D) the multiple dimensioned multi-angle template sequence (P of M groups is obtainedi1',di)T, (Pi2',di)T, (Pi3',di)T..., (PiM',di
)T。
3. a kind of method for tracking target based on profile gradients according to claim 2, it is characterised in that:The scale becomes
Change factor sx、syRanging from 0.9~1.1, ranging from -30 ° to 30 ° of the angle, θ.
4. a kind of method for tracking target based on profile gradients according to claim 1, it is characterised in that:The step 5
The computational methods of middle similarity, including:
1) g is denoted as to any point (x, y), gradient direction on target imagex,y=(vx,y,wx,y)T;
2) when the feature templates window of reference picture is matched with an equal amount of range of certain in target image to be detected, 2 points
Matching similarity s can be defined as:The point pair of same coordinate position in the eigenmatrix of feature templates matrix and target image
Answer the sum of gradient vector angular separation normalization cosine value;
3) the gradient vector value of non-edge point is (0,0), therefore the marginal point pair that similarity can be reduced to same coordinate position should ladder
Spend the sum of vector direction angle normalization cosine value:
In above-mentioned formula, (x, y) value is the coordinate in the sliding window position upper left corner in target image, and generally can directly use should
Point coordinates is converted to the coordinate of window center point to represent the window's position, and the value range of similarity s is 0~1;
4) by the multiple dimensioned multi-angle template (P of M groupsi1',di)T, (Pi2',di)T, (Pi3',di)T..., (PiM',di)TExist respectively
The sliding window that step-length is 1 is carried out on the eigenmatrix of target image to scan, and is obtained under more all templates, all the window's positions
Similarity, then similarity obtain the window's position corresponding to maximum value, as best match position is that present frame realizes target
The final result of tracking.
5. a kind of method for tracking target based on profile gradients according to claim 1, it is characterised in that:The step 5
The quick calculation method of middle similarity carries out convolution algorithm using Fast Fourier Transform (FFT) (FFT), similarity is transformed into frequency
Domain, including:
(1) for any one multiple dimensioned multi-angle feature templates (pik, dik)T, define two gradient direction Component Matrices Tx、Ty, square
The size of battle array is m × n, and the value of m, n are respectively by pikThe maximin of horizontal, vertical coordinate determine;pik=(xik,yik)T,
dik=(tik,uik)T, according to pikIn coordinate value respectively to Tx、TyAssignment, by TxMiddle xthikArrange yikRow element is assigned a value of tik, will
TyMiddle xthikArrange yikRow element is assigned a value of;
(2) (1) same mode is used, assignment obtains two gradient direction Component Matrices O of target imagex、Oy, assignment mode class
Seemingly;
(3)TxAnd OxConvolutional calculation, which is realized by FFT, is obtained
Wherein,
It is calculated:
Similarly, it is calculated:
(4) according to convolution and the equivalence relation of Fast Fourier Transform (FFT) (FFT), above-mentioned result of calculation is handled as follows to obtain
Similarity matrix:That is the set of matching similarity s.
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