一种多目标检测跟踪算法
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1.河北省科学院应用数学研究所;2.河北科技大学

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TP3

基金项目:

基于双目视觉移动机器人的自主路径规划和避障研究


A Multi-target Detection and Tracking Algorithm
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Research on Autonomous Path Planning and Obstacle Avoidance of Mobile Robot Based on Binocular Vision

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    摘要:

    本文提出了一种基于YOLOv3架构实现目标检测与核相关滤波算法实现目标跟踪的多目标检测跟踪算法。首先,利用训练好的YOLOv3网络获取视频中目标的位置,并对各个目标进行ID分配;其次,将多个目标并行输入到基于核相关滤波的跟踪模块进行目标跟踪;然后,判断是否满足启动修正策略的条件,若满足则用检测模块的结果去修正跟踪模块的结果;最后,利用跟踪结果更新核相关滤波器模型。通过实验分析,本文所提算法的总体平均成功率达到了81.2%,验证了算法的有效性。

    Abstract:

    This paper proposes a multi-target detection and tracking algorithm based on the YOLOv3 architecture to achieve target detection and core-related filtering algorithms to achieve target tracking. First, use the trained YOLOv3 network to obtain the location of the target in the video, and assign ID to each target; second, input multiple targets in parallel to the tracking module based on nuclear correlation filtering for target tracking; then, determine whether the start correction is satisfied If the conditions of the strategy are met, the results of the detection module are used to modify the results of the tracking module; finally, the tracking results are used to update the kernel correlation filter model. Through experimental analysis, the overall average success rate of the algorithm proposed in this paper has reached 81.2%, which verifies the effectiveness of the algorithm.

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  • 收稿日期:2021-04-21
  • 最后修改日期:2021-04-22
  • 录用日期:2022-03-31
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