图像跟踪系统的实现及目标跟踪算法的研究
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摘要
运动目标跟踪是计算机视觉领域非常活跃的一个课题，而且有着非常广泛的应用，例如视频会议、机器人导航、虚拟现实等等。在会议电视系统中，大多数都装有可控制摄像机，对发言人的运动进行跟踪。现有的跟踪系统大部分是基于硬件实现的，使用时操作复杂而且价格昂贵，本文用软件的方法实现了对摄像机的控制，完成了会议电视系统中的图像跟踪子系统的开发。
另外，运动目标跟踪算法的好坏直接影响着运动目标跟踪的准确性和稳定性，现有的目标跟踪算法大多数都是基于特征或运动信息的，虽然能够完成对运动目标的可靠跟踪，但是需要处理的数据量大、运算复杂，很难达到实时跟踪的要求。本文在对目标检测和跟踪算法分析的基础上，详细研究了两种目标跟踪算法：
(1)基于倒谱的目标跟踪算法，通过对目标图像对的倒谱进行分析，找出倒谱域中冲击函数的位置进而确定图像对中目标的位移大小，实现对运动目标的跟踪。另外用Hartley变换代替Fourier变换，实现了倒谱的快速算法。
(2)基于颜色直方图信息的目标跟踪算法，通过利用目标的特征颜色信息，得到当前帧颜色直方图的投影图，通过投影图的水平和垂直投影确定目标的位置，实现对运动目标的实时跟踪。
Moving objects tracking is an active problem in computer vision and has a wide variety of applications, such as videoconference, robotics navigation, virtual reality etc. The controllable camera is used to track the speaker in most videoconference systems. Most of the tracking systems are based on hardware. However , hardware-based tracking system is sophisticated and expensive. In this paper, a software method is proposed for controlling the camera and the image-based tracking system is developed as a part of videoconference systems.
In addition, the accuracy and stability of objects tracking depend on moving objects tracking algorithms to a great extent. Most of the current approaches proposed are mainly feature-based or motion-based. These approaches are reliable to track objects, but they have a lot of data to be processed and they are too complicated to apply in real time. In this paper, two tracking algorithms are researched in details by analyzing the current algorithms of objects detecting and tracking.
(1) Cepstrum-based tracking algorithm: In this method, the impulse' s position in cepstrum fields is computed and the object' s position is accordingly obtained, thus, the object can be tracked in each frame. In addition, the usage of Hartley transform gives faster computational speed than Fourier transform.
(2) Color histogram-based tracking algorithm: In this method, the projection of the color histogram is obtained by the main color of the objects. The object' s position is computed according to the horizontal and vertical projections of projected image.
另外，运动目标跟踪算法的好坏直接影响着运动目标跟踪的准确性和稳定性，现有的目标跟踪算法大多数都是基于特征或运动信息的，虽然能够完成对运动目标的可靠跟踪，但是需要处理的数据量大、运算复杂，很难达到实时跟踪的要求。本文在对目标检测和跟踪算法分析的基础上，详细研究了两种目标跟踪算法：
(1)基于倒谱的目标跟踪算法，通过对目标图像对的倒谱进行分析，找出倒谱域中冲击函数的位置进而确定图像对中目标的位移大小，实现对运动目标的跟踪。另外用Hartley变换代替Fourier变换，实现了倒谱的快速算法。
(2)基于颜色直方图信息的目标跟踪算法，通过利用目标的特征颜色信息，得到当前帧颜色直方图的投影图，通过投影图的水平和垂直投影确定目标的位置，实现对运动目标的实时跟踪。
Moving objects tracking is an active problem in computer vision and has a wide variety of applications, such as videoconference, robotics navigation, virtual reality etc. The controllable camera is used to track the speaker in most videoconference systems. Most of the tracking systems are based on hardware. However , hardware-based tracking system is sophisticated and expensive. In this paper, a software method is proposed for controlling the camera and the image-based tracking system is developed as a part of videoconference systems.
In addition, the accuracy and stability of objects tracking depend on moving objects tracking algorithms to a great extent. Most of the current approaches proposed are mainly feature-based or motion-based. These approaches are reliable to track objects, but they have a lot of data to be processed and they are too complicated to apply in real time. In this paper, two tracking algorithms are researched in details by analyzing the current algorithms of objects detecting and tracking.
(1) Cepstrum-based tracking algorithm: In this method, the impulse' s position in cepstrum fields is computed and the object' s position is accordingly obtained, thus, the object can be tracked in each frame. In addition, the usage of Hartley transform gives faster computational speed than Fourier transform.
(2) Color histogram-based tracking algorithm: In this method, the projection of the color histogram is obtained by the main color of the objects. The object' s position is computed according to the horizontal and vertical projections of projected image.
引文
[1] 郑立，自动跟踪算法的研究，武警工程学院学报，Vol．18，No．4，2002，pp．39-42．
[2] 李智勇，沈振康，杨卫平等，动态图像分析，国防工业出版社，1999．
[3] Gregory D. Hager and Peter N. Belhumeur, Efficient Region Tracking With Parametric Models of Geometry and Illumination, IEEE transactions on pattern analysis and machine intelligence, Vol. 20, No. 10, pp. 1025-39,October 1998.
[4] Natan Peterfreund, Robust Tracking of Position and Velocity With Kalman Snakes, IEEE transactions on pattern analysis and machine intelligence, Vol. 21, No. 6, June 1999.
[5] V. Caselles and B. Coil, Snakes in Movement, SIAM J. Numerical Analysis, Vol.33, pp. 2445-2456, 1996.
[6] 刘铁军、肖颖杰、史泽林，一种改进的区域相关跟踪方法，山东科技大学学报(自然科学版)，Vol．20，No．3，2001，pp．44—48．
[7] 徐瑞鑫，刘伟宁，基于自适应模板的实时跟踪算法，光学精密工程，Vol．10，No．4，2002，pp．365—369．
[8] Javed I. Khan, Zhong Guo and Wansik Oh, Motion based object tracking in MPEG-2 video stream for perceptual region discrimination rate transcoding, Proceedings of the 9th ACM international conference on multimedia, Pp. 572-576.
[9] 詹翊强，戚飞虎，刘天明，基于MPEG—2视频流的目标跟踪快速算法，上海交通大学学报，Vol．35，No．9，2001，pp．1321-1324．
[10] Sony EVI-D30/EVI-D31 VISCA/RS232C Command List Version 1.0, Sony Corporation, 1996.
[11] Sony EVI-D30/EVI-D31 Operating Instructions, Sony Corporation, 1996.
[12] Vladimir Kravtchenko, Tracking Color Objects in Real Time, A Thesis submitted in partial fulfillment of the requirements for degree of
Master of Science, 1999
[13] Yoav Rosenberg, Michael Werman, Real-Time Object Tracking from a Moving Video Camera: A Software Approach on a PC, IEEE Workshop on Applications of Computer Vision, Princeton, Oct 1998, pp. 238-239.
[14] 王华，叶爱亮，祈立学，曹凌云，VisualC++6.0编程实例与技巧，机械工业出版社，1999．
[15] 彭达，王道智，Visual C++多媒体编程技巧，人民邮电出版社，2000．
[16] 韩客松，刘芳，多态运动目标的智能跟踪策略，System & Engineering and Electronics，Vol．21，No．11，1999，pp．29—31．
[17] 王栓，艾海舟，何克忠，基于差分图像的多运动目标检测与跟踪，中国图形图像学报，Vol．4(A)，No．6，1999，pp．470—475．
[18] 杨宜禾等，成像跟踪技术导论，西安电子科技大学出版社，1990．
[19] 朱民雄，宋屹妟，实时数据处理方法在目标跟踪中的应用，微机发展，2000年第3期，pp．60—63．
[20] 周锐，杨涤，王恒霖，复杂背景中目标图像的提取与跟踪，系统工程与电子技术，1997年第9期，pp．10—13．
[21] 王春平，朱元昌，黄允华，电视跟踪系统中图像目标的预测跟踪算法研究， 测控技术，Vol．18，No．3，1999，pp．45—47．
[22] 奥本海姆，离散时间信号处理，科学出版社，1998，pp．632-640。
[23] 贺鹏令，初级视觉计算机模型的研究，西安交通大学博士学位论文，1993，pp．14—22．
[24] 马颂德，张正友，计算机视觉—计算机理论与算法基础，科学出版社，1998．
[25] 江捧岳，周洪武，常小成，图像跟踪算法仿真环境，光电与控制，1997年第1期(总第65期)，pp．24—28．
[26] Pylkko H, Riekki J & Roning J, Real-Time color-based tracking via a marker interface, Proc. IEEE International Conference on Robotics and Automation, May 21-26, Seout, South Korea, 2: 1214-1219.
[27] Paul Fieguth, Color-Based Tracking of Heads and Other Mobile Objects
at Video Frame Rates,Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition(CVPR'97).
[28] 阮秋琦，数字图像处理学，电子工业出版社，2001，pp．212-228．
[29] 陶霖密，徐光祜，机器视觉中的颜色问题及应用，科学通报，Vol．46，No．3，2001
[30] 付永会，张凤超，张宪民，一种改进的基于颜色直方图的实时目标跟踪算法，数据采集与处理，Vol．16，No．3，2001，pp．309-314．
[31] T.D. Grove, K.D. Baker, T.N. TAN, Color based object tracking, 14th International Conference on Pattern Recognition (CV41).
[32] Yiwei Wang, John F. Doherty and Robert E. Van Dyck, Moving Object Tracking in Video, Proc. Conference on Information Sciences and Systems (CISS),Princeton, NJ, March 2000.
[33] S D Blostein, H S Richardson, A Sequential Detection to Target Tracking, IEEE TRANSACTION ON AEROSPACE AND ELECTRONIC SYSTEMS, Vol. 30, No. 1,1994.
[34] N. Paragios and G. Tziritas, Adaptive Detection and Localization of Moving Objects in Image Sequences, Signal Processing: Image Comm., vol. 14, 1999, pp. 277-296.
[35] D. Reid, An Algorithm for Tracking Multiple Targets, IEEE Trans. Auto Control No. 6, 1979, pp. 843—854.
[2] 李智勇，沈振康，杨卫平等，动态图像分析，国防工业出版社，1999．
[3] Gregory D. Hager and Peter N. Belhumeur, Efficient Region Tracking With Parametric Models of Geometry and Illumination, IEEE transactions on pattern analysis and machine intelligence, Vol. 20, No. 10, pp. 1025-39,October 1998.
[4] Natan Peterfreund, Robust Tracking of Position and Velocity With Kalman Snakes, IEEE transactions on pattern analysis and machine intelligence, Vol. 21, No. 6, June 1999.
[5] V. Caselles and B. Coil, Snakes in Movement, SIAM J. Numerical Analysis, Vol.33, pp. 2445-2456, 1996.
[6] 刘铁军、肖颖杰、史泽林，一种改进的区域相关跟踪方法，山东科技大学学报(自然科学版)，Vol．20，No．3，2001，pp．44—48．
[7] 徐瑞鑫，刘伟宁，基于自适应模板的实时跟踪算法，光学精密工程，Vol．10，No．4，2002，pp．365—369．
[8] Javed I. Khan, Zhong Guo and Wansik Oh, Motion based object tracking in MPEG-2 video stream for perceptual region discrimination rate transcoding, Proceedings of the 9th ACM international conference on multimedia, Pp. 572-576.
[9] 詹翊强，戚飞虎，刘天明，基于MPEG—2视频流的目标跟踪快速算法，上海交通大学学报，Vol．35，No．9，2001，pp．1321-1324．
[10] Sony EVI-D30/EVI-D31 VISCA/RS232C Command List Version 1.0, Sony Corporation, 1996.
[11] Sony EVI-D30/EVI-D31 Operating Instructions, Sony Corporation, 1996.
[12] Vladimir Kravtchenko, Tracking Color Objects in Real Time, A Thesis submitted in partial fulfillment of the requirements for degree of
Master of Science, 1999
[13] Yoav Rosenberg, Michael Werman, Real-Time Object Tracking from a Moving Video Camera: A Software Approach on a PC, IEEE Workshop on Applications of Computer Vision, Princeton, Oct 1998, pp. 238-239.
[14] 王华，叶爱亮，祈立学，曹凌云，VisualC++6.0编程实例与技巧，机械工业出版社，1999．
[15] 彭达，王道智，Visual C++多媒体编程技巧，人民邮电出版社，2000．
[16] 韩客松，刘芳，多态运动目标的智能跟踪策略，System & Engineering and Electronics，Vol．21，No．11，1999，pp．29—31．
[17] 王栓，艾海舟，何克忠，基于差分图像的多运动目标检测与跟踪，中国图形图像学报，Vol．4(A)，No．6，1999，pp．470—475．
[18] 杨宜禾等，成像跟踪技术导论，西安电子科技大学出版社，1990．
[19] 朱民雄，宋屹妟，实时数据处理方法在目标跟踪中的应用，微机发展，2000年第3期，pp．60—63．
[20] 周锐，杨涤，王恒霖，复杂背景中目标图像的提取与跟踪，系统工程与电子技术，1997年第9期，pp．10—13．
[21] 王春平，朱元昌，黄允华，电视跟踪系统中图像目标的预测跟踪算法研究， 测控技术，Vol．18，No．3，1999，pp．45—47．
[22] 奥本海姆，离散时间信号处理，科学出版社，1998，pp．632-640。
[23] 贺鹏令，初级视觉计算机模型的研究，西安交通大学博士学位论文，1993，pp．14—22．
[24] 马颂德，张正友，计算机视觉—计算机理论与算法基础，科学出版社，1998．
[25] 江捧岳，周洪武，常小成，图像跟踪算法仿真环境，光电与控制，1997年第1期(总第65期)，pp．24—28．
[26] Pylkko H, Riekki J & Roning J, Real-Time color-based tracking via a marker interface, Proc. IEEE International Conference on Robotics and Automation, May 21-26, Seout, South Korea, 2: 1214-1219.
[27] Paul Fieguth, Color-Based Tracking of Heads and Other Mobile Objects
at Video Frame Rates,Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition(CVPR'97).
[28] 阮秋琦，数字图像处理学，电子工业出版社，2001，pp．212-228．
[29] 陶霖密，徐光祜，机器视觉中的颜色问题及应用，科学通报，Vol．46，No．3，2001
[30] 付永会，张凤超，张宪民，一种改进的基于颜色直方图的实时目标跟踪算法，数据采集与处理，Vol．16，No．3，2001，pp．309-314．
[31] T.D. Grove, K.D. Baker, T.N. TAN, Color based object tracking, 14th International Conference on Pattern Recognition (CV41).
[32] Yiwei Wang, John F. Doherty and Robert E. Van Dyck, Moving Object Tracking in Video, Proc. Conference on Information Sciences and Systems (CISS),Princeton, NJ, March 2000.
[33] S D Blostein, H S Richardson, A Sequential Detection to Target Tracking, IEEE TRANSACTION ON AEROSPACE AND ELECTRONIC SYSTEMS, Vol. 30, No. 1,1994.
[34] N. Paragios and G. Tziritas, Adaptive Detection and Localization of Moving Objects in Image Sequences, Signal Processing: Image Comm., vol. 14, 1999, pp. 277-296.
[35] D. Reid, An Algorithm for Tracking Multiple Targets, IEEE Trans. Auto Control No. 6, 1979, pp. 843—854.