基于DSP的主动视觉运动目标跟踪策略及实现  

Active Visual System for Moving Object Intelligent Tracking Based on DSP

作　　者：王睿[1] 王林[1] 姜志威[1] 

机构地区：[1]北京航空航天大学仪器科学与光电工程学院精密光机电一体化教育部重点实验室,北京100083

出　　处：《光电工程》2009年第2期6-10,共5页Opto-Electronic Engineering

基　　金："985"项目(微小型系统与光电探测技术);航天支撑技术基金

摘　　要：设计了一种基于TMS320DM642的单目主动视觉运动目标自动跟踪系统,该系统采用了一种期望极大化(Expectation Maximization,EM)自适应窗口的运动目标跟踪方法。本方法以考虑了像素空间位置信息的混合高斯模型建立目标的灰度特征模板,然后通过EM算法迭代估计出使每帧似然函数最大化的分布参数值,这些参数不但可确定出跟踪目标在图像序列中的位置和形状尺寸,而且为单目摄像机的自动变焦和基于分区逻辑的摇摆运动提供了控制信息。实验表明:系统可以自动而稳定地跟踪具有复杂运动状态的目标,对320 pixels×240 pixels的图像可实现平均约20 frame/s的跟踪速度。An active visual system for intelligent tracking of moving object based on Digital Signal Processing （DSP） was designed with Expectation Maximization （EM） algorithm and a novel zonal logical strategy for camera pan/tilt controi was presented. The dada set of the moving object gray feature was treated as Gaussian mixture model which included gray pixel position, and the expectation was employed as objective function. The localization and shape size of object in every frame which could be achieved during the estimation process with the EM algorithm were regarded as auto-control signal of the camera. The experimental results by using our system with several real image data demonstrate that the proposed scheme is not only practical and easy to perform the moving object intelligent tracking, but also robust for tracking. The system test shows that the processing for 320 pixels ×240 pixels image achieves 20 frame/s.

关 键 词：运动目标跟踪 主动视觉控制 期望极大化算法 高斯混合模型 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]