CN108492318A - A method of the target following based on bionics techniques - Google Patents
A method of the target following based on bionics techniques Download PDFInfo
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Abstract
The invention discloses a kind of methods of the target following based on bionics techniques, the present invention utilizes bionics techniques five kinds of visual characteristics of the motion mode of eyes and search strategy and biological vision system in object tracking process, including light and shade characteristic, color characteristics, sensitivity characteristic, persistence of vision and memory characteristic, the searching algorithm that changing features design is suitble to target following is carried out to target with these characteristics.It includes structure target template, structure candidate target template, three step of update of target template.Method for tracking target based on bionics techniques has merged intelligent processing method of the biological vision characteristic to target, it is proposed that the method for replacing color characteristic center of gravity with maximum probability center of gravity.
Description
Technical field
The invention belongs to field of machine vision, are related to mimic biology visual characteristic and carry out target signature detection and extraction, special
It is not to target based on bionical visual characteristic into line trace and identification.
Background technology
The tracking problem of moving target is always the research hotspot of scientific research field, and target following is influenced in actual life
Effect factor is very more, and current most target tracking algorism all can only be just applicable under particular circumstances, traditional movement
Target tracking algorism lack the characteristics of biological intelligence can not adapt to complex environment transformation so that tracking effect be not so good as people's will, deposit
Limitation is used prodigious, achievees the effect that biology tracking target, is always a challenge on target following direction.It is based on
The target following research of bionics techniques is the high efficiency and intelligence showed in object tracking process by biological vision system
Property enlightenment, incorporate human-eye visual characteristic thought and make up the deficiency of existing track algorithm.
This patent is played by analyzing human-eye visual characteristic in target's feature-extraction from human visual system's angle
Effect summarize color characteristic transformation, susceptibility transformation, memory characteristic convert three kinds of image conversion methods, it is proposed that Yi Zhongji
In the method for tracking target of bionics techniques.
Invention content
The processing method to extraneous visual information and bionical visual characteristic it is an object of the invention to mimic biology vision
Effect during target's feature-extraction and tracking, and memory function when to target deformation, it is proposed that imitative biological vision
The method for tracking target of characteristic.
The present invention establish bionical vision system in object tracking process the motion mode of eyes and search strategy with
And five kinds of visual characteristics of bionical vision system, including light and shade characteristic, color characteristics, sensitivity characteristic, persistence of vision and note
Recall characteristic, the searching algorithm that changing features design is suitble to target following is carried out to target with these characteristics.
The present invention is according to the light and shade characteristic of vision, color characteristics, sensitivity characteristic, persistence of vision, this five kinds of memory characteristic
Visual characteristic has simultaneously carried out eigentransformation with these characteristics to target, and clarification of objective is made to be become from RGB color feature
Destination probability feature.To target template, candidate target template and background in method for tracking target based on biological vision characteristic
Eigentransformation is done, to be scanned for best candidate model.Basic scheme is as follows：
1. first frame chooses target y0, to target using visual characteristic synthesis transformation, obtain target template P0, target organism
Probability characteristics coefficient W.
2. calculating candidate target statistical model Z using target organism probability characteristics coefficient W in next frame1, and calculate
Candidate target probability center P1, probability characteristics coefficient iterations T is set, T nearest probability characteristics coefficient iteration is selected.Such as
Fruit probability characteristics coefficient W is empty set, judges that the coefficient fails, first probability coefficent is selected to do intersection processing.Calculate background
Coefficient of variation h and given threshold h*If h<h*, new probability characteristics coefficient need to be recalculated and the probability calculated with front is special
Sign coefficient does intersection processing, if h >=h*, then into such as step 3.
3. setting iterations N, iteration threshold ε*, calculating ε=| P1-P0|.If ε>ε*, update destination probability center P0=
P1If ε≤ε*, then target area y is best candidate target.
4. being tracking target by best candidate target designation.
The background information remembered by short-term memory can help us preferably to track target.We utilize biological vision
When feature extraction target signature with background information be exactly by short-term memory store.When in face of complex environment,
With the change of environment, the background in short-term memory is also constantly changing, the most apparent highest feature of susceptibility of target
Changing, it would be desirable to which the template of a transformation replaces pervious template.Color characteristics in biological vision characteristic are also mentioned
This point, color that our human eyes can be seen according to the different adjust automaticallies of background color.
Under complex environment, the feature of target template its feature-sensitive degree can change with the variation of environment, work as target
When template characteristic disappears or weakens relative to the susceptibility of background, the tracking of target will fail.Higher organism utilizes brain
Store function and optic nerve system processing.By constantly updating target template, target signature and background is made to keep forever
The method of maximum susceptibility tracks object.
Compared with the prior art, the present invention has the following advantages：
Bionical vision system motion mode of eyes during to the tracking of target is calculated better than MeanShift target followings
The search strategy of method, in MeanShift track algorithms, the influence due to kernel function and weight function to target location so that
MeanShift is poor to the tracking effect of non-rigid object in target following, once target deforms upon, tracking is easy to lose
Effect.Method for tracking target based on bionical visual characteristic has merged biological vision characteristic to the intelligent processing method of target, carries
The method for replacing color characteristic center of gravity with maximum probability center of gravity is gone out.
Description of the drawings
Fig. 1 is the method for tracking target flow chart of the present invention based on bionics techniques.
Specific implementation mode
1. building target template, it converts the biological probability characteristics coefficient W of target to destination probability figure.In destination probability figure
In we can be apparent discovery target signature.The position of centre of gravity of destination probability figure is calculated using destination probability figure,
I.e. in target template at maximum probability center.The coordinate position of target template region x pixels is { xi *, i=
1...n },
Object pixel probability value is
Destination probability total amount：
Destination probability center：
Target organism probability characteristics coefficient：
2. building candidate target template.Candidate target template is similar with target template, i.e., selects former frame in the next frame
The coordinate position of target location region y, region y pixels isWith the target pixel probability value I of present frameyi,
Then candidate family：
Candidate target probability total amount：
Candidate target probability center：
3. finding target maximum probability position, that is, find candidate target probability center P1With the relative position of image, calculate
Then the offset vector of candidate target and target finds out best candidate target location.
Offset vector：
Bs=P1-P0 (6)
Best candidate target area：
Y=x+bs (7)
4. calibration tracking target, after finding out target location with offset vector, more accurate position is acquired with iterative processing
And it demarcates into target location.
Claims (5)
1. a kind of method of the target following based on bionics techniques, it is characterised in that：
(1) biological vision the system motion mode of eyes and search strategy and biology in object tracking process has been used to regard
Five kinds of visual characteristics of feel system, including light and shade characteristic, color characteristics, sensitivity characteristic, persistence of vision and memory characteristic, fortune
The searching algorithm that changing features design is suitble to target following is carried out to target with these characteristics；
(2) according to the light and shade characteristic of biological vision, color characteristics, sensitivity characteristic, persistence of vision, this five kinds of visions of memory characteristic
Characteristic has simultaneously carried out eigentransformation with these characteristics to target, and clarification of objective is made to be become for mesh by RGB color feature
Mark probability characteristics.Spy has been done to target template, candidate target template and background in method for tracking target based on imitative biotechnology
Sign transformation, to be scanned for best candidate model.
2. the method for a kind of target following based on bionics techniques according to claim 1, it is characterized in that by the general of target
Rate characteristic coefficient W is converted into destination probability figure, and then finds in target template at maximum probability center.
3. the method for a kind of target following based on bionics techniques according to claim 1, it is characterized in that according to candidate mesh
Mark probability total amount finds candidate target probability center, and then finds candidate target template.
4. a kind of method of target following based on bionics techniques according to claim 1, it is characterised in that：By continuous
Update target template, make target signature and background that the method for maximum susceptibility be kept to track object forever.
5. a kind of method of target following based on bionics techniques according to claim 1 and 2, it is characterised in that：Fusion
Intelligent processing method of the biological vision characteristic to target, with maximum probability center of gravity replaces color characteristic center of gravity.
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