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前视声呐多特征自适应融合跟踪方法

DOI: 10.3969/j.issn.1006-7043.201212008

Keywords: 前视声呐, 多目标跟踪, 粒子滤波, 自适应融合, 粒子权值, 水下智能机器人, 模糊逻辑??

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Abstract:

为了提高基于前视声呐的水下多目标跟踪精度,在粒子滤波跟踪的基础上,采用多特征自适应线索融合策略,通过在线调整特征融合方法计算粒子权值,提取出每个粒子对应模板的多个特征,包括形状与亮度特征、不变矩数字特征和灰度共生矩阵数字特征。采用自适应融合策略对粒子的各个特征权值进行融合得到最终权值,特征线索良好时采用乘性融合策略,否则采用基于模糊逻辑的加权融合策略。采用2组前视声呐水池试验序列图像,通过与传统融合策略进行对比试验,验证了自适应融合策略的有效性,对于实现水下智能机器人的自主跟踪具有重要的意义。

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