基于目标检测与跟踪组合模式的智能枪瞄技术研究  

Research on Intelligent Gun Aiming Technology based on Object Detection and Tracking

作　　者：管秀云 郭永红 李旭光 赵登辉[1] 史超 崔令飞 温昕 GUAN Xiuyun;GUO Yonghong;LI Xuguang;ZHAO Denghui;SHI Chao;CUI Lingfei;WEN Xin(China Ordnance Industrial Standardization Research Institute,Beijing 100089,China;China Ordnance Industrial Computer Application Technology Institute,Beijing 100089,China)

机构地区：[1]中国兵器工业标准化研究所,北京100089 [2]中国兵器工业计算机应用技术研究所,北京100089

出　　处：《新技术新工艺》2022年第11期85-90,共6页New Technology & New Process

摘　　要：针对智能化枪瞄系统中存在的检测图像序列角度变化较大、遮挡较为严重的问题,结合深度学习目标检测模型Single Shot MultiBox Detector(SSD)和核相关滤波器(KCF),提出一种新的自动检测-跟踪-检测(DTD)模式,利用SSD快速精确地对目标进行检测,将检测到的坐标信息输入到KCF跟踪模型中进行稳定跟踪,利用一组固定维数动态峰值的均值和标准差对每帧的响应峰值进行检测,如果发现异常峰值,则判定目标丢失或即将丢失,使用SSD重新检测,同时设定目标重检测时间阈值,在跟踪器运行时间大于此阈值时,同样进行重新检测。试验表明,该方法较之前单一的目标检测或跟踪方法具有更高的检测精度和较快的速率。Aimed at the problems in the intelligent gun aiming system,such as large changes in the angle of the detection image sequence and serious occlusion,a new automatic detection-tracking-detection(DTD)mode was proposed,which combined the single shot multibox detector(SSD)and the kernel correlation filter(KCF).The target was detected quickly and accurately by SSD,and the detected coordinate information was input into the KCF tracking model for stable tracking.The response peak value of each frame was detected by means of the mean and standard deviation of a set of dynamic peak values with fixed dimensions.If the abnormal peak value was found,the target was lost or about to be lost,then the target was detected again by SSD.At the same time,the target re-detection time threshold was set.When the tracker ran longer than this threshold,it was also re-detected.Experiments showed that this method had high detection accuracy and fast speed than that of the before single target detection or tracking method.

关 键 词：SSD 核相关滤波器 检测-跟踪-检测 智能瞄具 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]