基于图像伺服控制的TLD算法  

A TLD algorithm based on image servo control

作　　者：刘豪 曹凯[1] 王光庭 LIU Hao;CAO Kai;WANG Guangting(School of Transportation and Vehicle Engineering,Shandong University of Technology,Zibo 255049,China)

机构地区：[1]山东理工大学交通与车辆工程学院,山东淄博255049

出　　处：《山东理工大学学报（自然科学版）》2019年第1期14-19,共6页Journal of Shandong University of Technology:Natural Science Edition

基　　金：国家自然科学基金项目(61573009)

摘　　要：针对TLD(Tracking-Learning-Detection)算法在目标跟踪过程中容易出现跟踪失败的问题,在TLD算法的基础上引入了基于图像视觉伺服IBVS(Image Based Visual Servo)的理念,将图像视觉伺服控制应用到TLD算法中去,以此提高目标跟踪的鲁棒性,实现对目标的长时间跟踪,并且能够解决目标遮挡后的再次跟踪问题。实验表明,基于图像的视觉伺服能够有效控制目标跟踪的误差,将误差实时反馈给TLD算法,能够保证TLD算法跟踪的实时性与鲁棒性。In order to solve the tracking thilure problem of TLD （Tracking-Leaming-Deteetion） algorithm in the process of target tracking , a IBVS （ Image Based Visual Servo） concept was introduced to TLD algorithm, which makes the Image Visual Servo control combine with TLD algorithm to improve the robustness of target tracking. IBVS controls the error of target tracking and feeds the error back to TLD algorithm, which guarantees the real-time and robustness of TLD algorithm tracking and is able to solve the problem of tracking again alter the object shelter. The experiments show that this method can be used for long time tracking, and the stability and efficiency are improved greatly.

关 键 词：IBVS TLD 目标跟踪 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]