郭烈

个人信息Personal Information

副教授

博士生导师

硕士生导师

性别:男

毕业院校:吉林大学

学位:博士

所在单位:机械工程学院

学科:车辆工程. 载运工具运用工程

办公地点:海涵楼417A

联系方式:15524800674

电子邮箱:guo_lie@dlut.edu.cn

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Pedestrian Tracking based on Camshift with Kalman Prediction for Autonomous Vehicles

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论文类型:期刊论文

第一作者:Guo, Lie

通讯作者:Guo, L (reprint author), Dalian Univ Technol, Dalian, Peoples R China.

合写作者:Li, Linhui,Zhao, Yibing,Zhao, Zongyan

发表时间:2016-06-08

发表刊物:INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS

收录刊物:SCIE、EI

卷号:13

期号:3

ISSN号:1729-8814

关键字:Autonomous Vehicles; Pedestrian Tracking; Kalman Filter; Camshift Algorithm; Colour Probability Distribution

摘要:Pedestrian detection and tracking is the key to autonomous vehicle navigation systems avoiding potentially dangerous situations. Firstly, the probability distribution of colour information is established after a pedestrian is located in an image. Then the detected results are utilized to initialize a Kalman filter to predict the possible position of the pedestrian centroid in the future frame. A Camshift tracking algorithm is used to track the pedestrian in the specific search window of the next frame based on the prediction results. The actual position of the pedestrian centroid is output from the Camshift tracking algorithm to update the gain and error covariance matrix of the Kalman filter. Experimental results in real traffic situations show the proposed pedestrian tracking algorithm can achieve good performance even when they are partly occluded in inconsistent illumination circumstances.