meanshift 与 camshift 跟踪算法比较

MeanShift Algorithm

思想很简单：利用概率密度的梯度爬升来寻找局部最优...具体参考文献：

[1]The Estimation of the Gradient of a Density Function, with Applications in Pattern Recognition   (1975)

[2]Mean shift, mode seeking, and clustering (1995)

[3]Mean Shift: a robust approach toward feature space analysis (2002)

[4]Real-time tracking of non-rigid objects using mean shift (2000)

[5]Mean-shift Blob Tracking through Scale Space (2003)

[6]An algorithm for data-driven bandwidth selection(2003)

 

对于OpenCV的Meanshift算法 貌似只是简化成了一个重心跟踪法，没有引入核函数与巴氏系数....

怪不得跟踪的效果那么差...

 

 

具体计算过程如下：

 

1.计算区域内0阶矩
for(int i=0;i<height;i++)
  for(int j=0;j<width;j++)
     M00+=I(i,j)
2.区域内1阶矩：
for(int i=0;i<height;i++)
  for(int j=0;j<width;j++)
  {
    M10+=i*I(i,j);
    M01+=j*I(i,j);
  }
3.则Mass Center为：
Xc=M10/M00; Yc=M01/M00

 

具体的CVMEANSHIFT算法可以分为以下4步：
1.选择窗的大小和初始位置.
2.计算此时窗口内的Mass Center.
3.调整窗口的中心到Mass Center.
4.重复2和3，直到窗口中心"会聚"，即每次窗口移动的距离小于一定的阈值，或者迭代次数达到设定值。

 

 

int cvMeanShift(IplImage* imgprob,CvRect windowIn,
                    CvTermCriteria criteria,CvConnectedComp* out);

 

函数说明： 需要的参数为： 1.IplImage* imgprob：2D概率分布图像，传入； 2.CvRect windowIn：初始的窗口，传入； 3.CvTermCriteria criteria：停止迭代的标准，传入； 4.CvConnectedComp* out:查询结果，传出。 (注：构造CvTermCriteria变量需要三个参数，一个是类型，另一个是迭代的最大次数，最后一个表示特定的阈值。例如可以这样构造criteria：criteria=cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,10,0.1)。) Parameters: imgProb - 2D object probability distribution windowIn - CvRect of CAMSHIFT Window intial size numIters - If CAMSHIFT iterates this many times, stop windowOut - Location, height and width of converged CAMSHIFT window len - If != NULL, return equivalent len width - If != NULL, return equivalent width itersUsed - Returns number of iterations CAMSHIFT took to converge Returns: The function itself returns the area found int cvMeanShift( const void* imgProb, CvRect windowIn, CvTermCriteria criteria, CvConnectedComp* comp ) { CvMoments moments; int i = 0, eps; CvMat stub, *mat = (CvMat*)imgProb; CvMat cur_win; CvRect cur_rect = windowIn; CV_FUNCNAME( "cvMeanShift" ); if( comp ) comp->rect = windowIn; moments.m00 = moments.m10 = moments.m01 = 0; __BEGIN__; CV_CALL( mat = cvGetMat( mat, &stub )); if( windowIn.height <= 0 || windowIn.width <= 0 ) CV_ERROR( CV_StsBadArg, "Input window has non-positive sizes" ); if( windowIn.x < 0 || windowIn.x + windowIn.width > mat->cols || windowIn.y < 0 || windowIn.y + windowIn.height > mat->rows ) CV_ERROR( CV_StsBadArg, "Initial window is not inside the image ROI" ); CV_CALL( criteria = cvCheckTermCriteria( criteria, 1., 100 )); eps = cvRound( criteria.epsilon * cr