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融合视觉深度的特征计算与水下目标跟踪

DOI: 10.11834/jig.20140406

Keywords: 水下目标跟踪,视觉深度信息,特征计算,贝叶斯滤波

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Abstract:

目的受水下复杂光学环境以及水下运动目标特性影响,水下视频图像中难以获取准确的目标特征,也难以准确预测目标空间尺寸,使得目标跟踪过程中跟踪窗偏移量较大且无法准确地包络目标区域。提出一种新的以视觉深度信息为核心的目标特征计算和跟踪方法。方法首先,基于暗原色先验计算视觉深度信息,提取目标的空间位置特征;然后,基于深度信息对水下图像进行去光幕及色彩恢复,增强图像目标特征;最后,在贝叶斯滤波框架下对水下目标进行跟踪,同时结合目标深度信息及尺度变化规律自适应调整跟踪窗口大小。结果实验结果表明,本文方法能够根据视觉深度信息准确计算目标特征并优化跟踪窗口,实现对水下目标的自适应跟踪。结论本文提出了一种新的水下目标跟踪方法,以视觉深度信息计算为核心。实验结果验证了该方法在水下目标自适应跟踪方面的鲁棒性,可适用于各种非线性非高斯水下目标跟踪框架中。

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