【卡尔曼滤波跟踪】将卡尔曼滤波与粒子滤波相结合实现实时物体跟踪（Matlab实现）

最新推荐文章于 2024-05-13 18:21:41 发布

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最新推荐文章于 2024-05-13 18:21:41 发布

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文章标签： matlab 开发语言

本文链接：https://blog.csdn.net/weixin_46039719/article/details/138372826

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本文介绍了卡尔曼滤波和粒子滤波在动态系统状态估计中的应用，特别关注它们在非线性环境下的优势，以及在实时物体跟踪中的融合方法。通过Matlab代码示例，展示了如何在视频处理中实现这两种滤波器的结合，以提高目标跟踪的精度和鲁棒性。

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📋📋📋本文目录如下：🎁🎁🎁

目录

💥1 概述

📚2 运行结果

🎉3 参考文献

🌈4 Matlab代码实现

💥1 概述

卡尔曼滤波是一种递归滤波技术，用于估计动态系统的状态，特别适用于线性动态系统。它基于系统的动态模型和测量数据，通过递归地更新状态估计来提供对目标状态的最优估计。卡尔曼滤波假设系统的动态过程和观测过程都是线性的，同时假设噪声是高斯分布的。粒子滤波是一种非参数贝叶斯滤波方法，用于在非线性和非高斯系统中进行状态估计。它通过使用一组粒子（随机样本）来表示状态空间的后验分布，并通过重采样和权重更新来近似目标状态的后验分布。粒子滤波不依赖于线性模型或高斯假设，因此对于复杂的非线性系统和非高斯噪声效果很好。在实时物体跟踪中，该组合方法可以实现对目标的准确跟踪，并且能够适应不确定性和噪声的变化。通过融合卡尔曼滤波和粒子滤波的优势，可以在复杂环境下实现高效的实时目标跟踪，例如在自动驾驶、无人机导航、人体姿态跟踪等领域。

📚2 运行结果

主函数部分代码：

% Clear everything
close all;
clear all;


% Add path of functions (needed for OS X systems) 
addpath(genpath('Image_Transformation'));
addpath(genpath('Kalman'));
addpath(genpath('Particles'));

%Video input file
v = VideoReader('Videos/Pinball.mov');


%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% TUNING INITIALIZATION
% You can modify these parameters to inspect different approaches
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


ENDING = 15; % Run the code until this frame (maximum is ENDING = 600)
% If set to 1, the MSE curve is obtain for that method. Set all methods to
% 1 to compare the performance of the three methods.
KALMAN = 1;
PARTICLES = 0;
BOTH = 0;

if ( PARTICLES + KALMAN + BOTH ) > 1
    verbose = 1;
else
    %     verbose = 0 - No output
    %     verbose = 1 - Error plotting
    %     verbose = 2 - Real time video plotting
    verbose = 2;
end


% OBSTACLES = 1 - Some occlusions are added to the original video, in order 
%                 to measure the performance of the filter.
% OBSTACLES = 0 - Original video without occlusions is used
OBSTACLES = 1;


%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% DEFAULT PARAMETERS  
% These parameters are to ensure correct visualization of the results. They
% should not be changed
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Variable to ensure correct representation of particles and estimated
% states
threshold_square = 30;