本文關(guān)鍵詞：PCL環(huán)境下粒子濾波目標(biāo)跟蹤算法研究　出處：《計(jì)算機(jī)工程》2017年09期 　論文類型：期刊論文

  更多相關(guān)文章： 點(diǎn)云庫(kù) 目標(biāo)跟蹤 粒子濾波 距離閾值 小區(qū)域閾值

【摘要】：在實(shí)時(shí)三維目標(biāo)跟蹤系統(tǒng)中,KL距離自適應(yīng)粒子濾波算法中距離閾值、小區(qū)域閾值以及其他參數(shù)的選取往往根據(jù)經(jīng)驗(yàn)設(shè)置,如果參數(shù)設(shè)置不合適會(huì)降低跟蹤精度和實(shí)時(shí)性。為此,設(shè)計(jì)一種3D點(diǎn)云目標(biāo)跟蹤系統(tǒng)。分析距離閾值和小區(qū)域閾值等參數(shù)對(duì)跟蹤性能的影響,并給出自適應(yīng)粒子濾波中參數(shù)與跟蹤目標(biāo)模型的關(guān)系。實(shí)驗(yàn)結(jié)果表明,與PCL_Tracking算法相比,該系統(tǒng)提高了三維目標(biāo)跟蹤系統(tǒng)的準(zhǔn)確性和實(shí)時(shí)性。
[Abstract]:In the real-time 3D target tracking system, the range threshold, small region threshold and other parameters are often set according to the experience in the KL distance adaptive particle filter algorithm. If the parameters are not set properly, the tracking accuracy and real-time will be reduced. Therefore, a 3D point cloud target tracking system is designed. The influence of distance threshold and small region threshold on tracking performance is analyzed. The relationship between the parameters of the adaptive particle filter and the target tracking model is given. The experimental results show that the proposed algorithm is compared with the PCL_Tracking algorithm. This system improves the accuracy and real-time of three-dimensional target tracking system.
【作者單位】： 武漢科技大學(xué)冶金自動(dòng)化與檢測(cè)技術(shù)教育部工程研究中心;
【基金】：國(guó)家自然科學(xué)基金(61175094,61673304)
【分類號(hào)】：TN713;TP391.41
【正文快照】： 中文引用格式:康雅文,閔華松,陳鳴宇,等.PCL環(huán)境下粒子濾波目標(biāo)跟蹤算法研究[J].計(jì)算機(jī)工程,2017,43(9):304-309.英文引用格式:KANG Yawen,MIN Huasong,CHEN Mingyu,et al.Research on Target Tracking Algorithm for ParticleFiltering Under PCL Environment[J].Computer En，

本文編號(hào)：1381439