A Systematic Solution for Moving-Target Detection and Tracking While Only Using a Monocular Camera

Wang，Shun1; Xu，Sheng1; Ma，Zhihao2,3; Wang，Dashuai1,4; Li，Weimin1,2

2023-05-01

10.3390/s23104862

Sensors   影响因子和分区

1424-8220

1424-8220

This paper focuses on moving-target detection and tracking in a three-dimensional (3D) space, and proposes a visual target tracking system only using a two-dimensional (2D) camera. To quickly detect moving targets, an improved optical flow method with detailed modifications in the pyramid, warping, and cost volume network (PWC-Net) is applied. Meanwhile, a clustering algorithm is used to accurately extract the moving target from a noisy background. Then, the target position is estimated using a proposed geometrical pinhole imaging algorithm and cubature Kalman filter (CKF). Specifically, the camera’s installation position and inner parameters are applied to calculate the azimuth, elevation angles, and depth of the target while only using 2D measurements. The proposed geometrical solution has a simple structure and fast computational speed. Different simulations and experiments verify the effectiveness of the proposed method.

3D target tracking cubature Kalman filter monocular vision moving-target detection optical flow

SCI ; EI

英语

其他

Basic and Applied Basic Research Foundation of Guangdong Province[2020B1515120054];Key Technology Research and Development Program of Shandong[2021CXGC011304];National Natural Science Foundation of China[32001424];National Natural Science Foundation of China[62273327];Shenzhen Science and Technology Innovation Program[JCYJ20210324102401005];Shenzhen Science and Technology Innovation Program[KCXFZ20211020165003005];

Chemistry ; Engineering ; Instruments & Instrumentation

Chemistry, Analytical ; Engineering, Electrical & Electronic ; Instruments & Instrumentation

WOS:000997206300001

MDPI

20232214170920

Cameras ; Clustering algorithms ; Clutter (information theory) ; Kalman filters ; Target tracking

Information Theory and Signal Processing:716.1 ; Light/Optics:741.1 ; Photographic Equipment:742.2 ; Information Sources and Analysis:903.1

CHEMISTRY

2-s2.0-85160398879

Scopus

1.Guangdong Provincial Key Lab of Robotics and Intelligent System,Shenzhen Institute of Advanced Technology (SIAT),Chinese Academy of Sciences (CAS),Shenzhen,518055,China
2.Shandong Institute of Advanced Technology,CAS,Jinan,250102,China
3.School of Control Science and Engineering,Shandong University,Jinan,250061,China
4.School of Microelectronics,Southern University of Science and Technology,Shenzhen,518055,China

Wang，Shun,Xu，Sheng,Ma，Zhihao,et al. A Systematic Solution for Moving-Target Detection and Tracking While Only Using a Monocular Camera[J]. Sensors,2023,23(10).

Wang，Shun,Xu，Sheng,Ma，Zhihao,Wang，Dashuai,&Li，Weimin.(2023).A Systematic Solution for Moving-Target Detection and Tracking While Only Using a Monocular Camera.Sensors,23(10).

Wang，Shun,et al."A Systematic Solution for Moving-Target Detection and Tracking While Only Using a Monocular Camera".Sensors 23.10(2023).