动态自适应特征融合的MFOPA跟踪器
MFOPA Tracker with Dynamic Adaptive Feature Fusion
- 电子学报 2023年51卷第5期 页码：1350-1358
- 作者机构：
1.长安大学电子与控制工程学院,陕西西安 710064
2.长安大学信息工程学院,陕西西安 710064
3.西安市智慧高速公路信息融合与控制重点实验室,陕西西安 710064
4.中山大学智能工程学院,广东深圳 518107
- 作者简介：
[ "黄鹤 男，1979年2月出生，现为长安大学教授，博士生导师，主要研究方向是无人机测控，信息融合等. E-mail: huanghe@chd.edu.cn" ]
[ "李文龙 男，1999年4月出生.现为长安大学硕士研究生，主要研究方向是模式识别，目标跟踪等. E-mail: 691508561@qq.com" ]
[ "吴琨 男，1996年6月出生，现为长安大学硕士研究生，主要研究方向是信息融合，路径规划.E-mail: 493817310@qq.com" ]
[ "杨澜（通讯作者） 女，1985年7月出生，现为长安大学信息工程学院高级工程师，主要研究方向是车联网.E-mail: lanyang@chd.edu.cn" ]
王会峰 男，1976年12月出生，现为长安大学教授，博士生导师，主要研究方向是机器视觉与图像处理技术. E-mail: hfwang@chd.edu.cn
王萍 女，现为中山大学智能工程学院教授.主要研究方向是交通大数据，智能机器人，深度学习，数据融合，智能交通.E-mail: pingwang@chd.edu.cn
- 基金信息：国家重点研发计划项目(2021YFB2501200);国家自然科学基金面上项目(52172379;52172324);陕西省重点研发计划项目(2021SF-483);陕西省博士后科研项目(2018BSHYDZZ64);西安市智慧高速公路信息融合与控制重点实验室（长安大学）开放基金项目(300102321502);中央高校基本科研业务费资助项目(300102240203)
DOI：10.12263/DZXB.20220874
中图分类号： TP301.6收稿：2022-07-22，
修回：2022-10-31，
纸质出版：2023-05-25
- 稿件说明：
移动端阅览
黄鹤,李文龙,吴琨等.动态自适应特征融合的MFOPA跟踪器[J].电子学报,2023,51(05):1350-1358.
HUANG He,LI Wen-long,WU Kun,et al.MFOPA Tracker with Dynamic Adaptive Feature Fusion[J].ACTA ELECTRONICA SINICA,2023,51(05):1350-1358.
黄鹤,李文龙,吴琨等.动态自适应特征融合的MFOPA跟踪器[J].电子学报,2023,51(05):1350-1358. DOI： 10.12263/DZXB.20220874.
HUANG He,LI Wen-long,WU Kun,et al.MFOPA Tracker with Dynamic Adaptive Feature Fusion[J].ACTA ELECTRONICA SINICA,2023,51(05):1350-1358. DOI： 10.12263/DZXB.20220874.
摘要
本文针对无人机航拍跟踪算法实时性差且易发生跟踪漂移的问题，提出了一种动态自适应特征融合的改进飞蛾扑火优化跟踪器.本文设计了一种基于趋光-聚集度飞蛾扑火优化算法的目标跟踪框架，采用高斯分布和趋光-聚集度改进飞蛾扑火算法的初始化和迭代方式，将改进后的飞蛾扑火算法作为搜索策略优化目标跟踪，提升了跟踪效率；同时，在趋光-聚集度飞蛾扑火优化算法跟踪框架的基础上，本文定义了一种自适应多特征融合的模板和选择了一种动态更新的模板策略，充分利用颜色名特征、融合方向梯度直方图特征及灰度特征各自的优势，消除复杂环境中无人机跟踪受到的干扰，并解决在遮挡等情况下学习到无效的背景信息而导致特征模板退化的问题.实验结果表明，本文提出的算法在复杂环境场景下能够适应不同情况下环境的变化，平均跟踪精度达到87%，保持稳定跟踪，跟踪速度为31.6帧/s，满足实时性要求，大幅提升了跟踪器的精度和鲁棒性.
Abstract
Aiming at the problem of poor real-time and tracking drift of unmanned aerial vehicle (UAV) aerial tracking algorithm
this paper proposes an improved moth-flame optimization (MFO) tracker based on dynamic adaptive feature fusion. This paper designs a target tracking framework based on moth-flame optimization with phototaxis-aggregation degree (MFOPA). The initialization and iteration methods of MFO are improved by Gaussian distribution and phototaxis-aggregation degree. The improved moth-flame algorithm is used as a search strategy to optimize target tracking
which improves tracking efficiency. At the same time
based on the tracking framework of MFOPA
this paper defines an adaptive multi-feature fusion template and selects a dynamical update template strategy
which makes full use of the advantages of color name feature
fused histogram of oriented gradient feature and gray feature to eliminate the interference of UAV tracking in complex environment
and solve the problem of feature template degradation caused by learning invalid background information in the case of occlusion. The experimental results show that the algorithm proposed in this paper can adapt to the changes of the environment under different conditions in complex scenarios
the average tracking accuracy reaches 87%
and the tracking speed is 31.6 frame/s
which meets the real-time requirements and greatly improves the accuracy and robustness of the tracker.
关键词
Keywords
references
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