基于运动一致性的视觉多目标跟踪算法  

Visual Multiple-object Tracking Algorithm Based on Motion Consistency

作　　者：阳海浪 吕宇 蒋国涛 皮志超 罗朔 陈美林 YANG Hailang;LYU Yu;JIANG Guotao;PI Zhichao;LUO Shuo;CHEN Meilin(CRRC Zhuzhou Institute Co.,Ltd.,Zhuzhou,Hunan 412001,China)

机构地区：[1]中车株洲电力机车研究所有限公司,湖南株洲412001

出　　处：《控制与信息技术》2023年第4期61-66,共6页CONTROL AND INFORMATION TECHNOLOGY

摘　　要：视觉多目标跟踪模块在主动式车载障碍物检测系统中占据关键地位。然而,现有的视觉多目标跟踪算法多依赖离线计算得到的目标检测结果,并未充分考虑这个阶段耗时对实际应用中跟踪效果的影响。因此,本研究首先针对实际应用环境,设计了一个多线程异步的视觉障碍物检测系统框架;随后,提出了一种多特征融合的视觉多目标跟踪算法,该算法以本研究所提出的基于目标运动向量的运动一致性特征指标为基础,结合目标跟踪研究中常用的外观特征和马氏距离等特征,优化级联匹配策略,旨在提升对具有相似外观特征和运动规律的多个目标的跟踪稳定性,同时保证常规场景下目标的稳定跟踪;最后,将所提出的多目标跟踪算法集成于所设计的障碍物检测系统框架中,通过实验分析来验证该算法的有效性。实验结果表明,该算法能较稳定地跟踪实际应用环境下的各类目标,相比参照算法可达到更长时间稳定跟踪的效果。The visual multiple-object tracking module is a key component of an active onboard obstacle detection system.However,the most of currently used visual multiple-object tracking algorithms rely on offline calculation for object detection,without adequately considering the adverse effect on tracking attributed to the time consuming nature of offline calculation in actual applications.This study presents a visual multiple-object tracking algorithm that leverages multi-characteristic fusion within a multithread asynchronous system framework for visual obstacle detection,designed in consideration of actual application environments.The proposed algorithm reflects an optimized cascade matching strategy,primarily depending on the motion consistency characteristic index developed in this study based on the target motion vector,and incorporating some common cues in object tracking research,such as the appearance model and Mahalanobis distance.The algorithm aims to improve the stability in tracking multiple objects with similar appearance features and motion patterns,while maintaining stability in normal cases.The proposed multiple-object tracking algorithm integrated into the above-mentioned framework was verified in experimental analysis.According to the experimental results,the proposed method demonstrates the capability to stably track various targets in actual application environments,outperforming the baseline method in terms of longer-lasting stable tracking performance.

关 键 词：多目标跟踪 障碍物检测系统 运动一致性 级联匹配 目标检测 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]