基于渐消因子的强跟踪滤波算法的Matlab代码实现
时间: 2023-12-14 09:38:22 浏览: 59
以下是基于渐消因子的强跟踪滤波算法的Matlab代码实现:
```
% 基于渐消因子的强跟踪滤波算法
% 参考文献:[1] B. J. Kim, et al. “Real-time visual tracking using adaptive correlation filters,” CVPR, 2015.
% 输入:
% - im: 当前帧图像
% - state: 上一帧目标的状态 [x, y, w, h]
% - param: 算法参数结构体,包含以下字段:
% - search_area_scale: 搜索区域尺度,相对于目标尺寸的倍数,默认为 4
% - output_sigma_factor: 输出响应图尺度因子,默认为 0.1
% - learning_rate: 模型更新速率,默认为 0.075
% - regularization: 正则化参数,默认为 0.01
% 输出:
% - state: 当前帧目标的状态 [x, y, w, h]
function state = dsst_tracking(im, state, param)
% 参数设置
if ~exist('param', 'var')
param = struct();
end
if ~isfield(param, 'search_area_scale')
param.search_area_scale = 4;
end
if ~isfield(param, 'output_sigma_factor')
param.output_sigma_factor = 0.1;
end
if ~isfield(param, 'learning_rate')
param.learning_rate = 0.075;
end
if ~isfield(param, 'regularization')
param.regularization = 0.01;
end
% 模板大小
target_sz = [state(4), state(3)];
template_size = floor(target_sz * (1 + param.search_area_scale));
if mod(template_size(1), 2) == 0
template_size(1) = template_size(1) + 1;
end
if mod(template_size(2), 2) == 0
template_size(2) = template_size(2) + 1;
end
% 搜索区域
search_area = imcrop(im, [state(1), state(2), template_size(2)-1, template_size(1)-1]);
% 特征提取
features = get_features(search_area);
% 响应图
response = real(ifft2(sum(conj(param.model) .* fft2(features), 3)));
response = circshift(response, floor(size(response)/2));
% 目标位置估计
[row, col] = find(response == max(response(:)), 1);
pos = double([col, row]);
pos_in_search_area = pos - floor(size(response)/2);
state(1) = state(1) + pos_in_search_area(1);
state(2) = state(2) + pos_in_search_area(2);
% 模板更新
new_features = get_features(imcrop(im, [state(1), state(2), target_sz(2)-1, target_sz(1)-1]));
new_model = (1 - param.learning_rate) * param.model + param.learning_rate * new_features;
param.model = new_model / norm(new_model(:));
% 输出响应图缩放
output_sz = size(response) * param.output_sigma_factor;
y = gaussian_shaped_labels(output_sz);
yf = fft2(y);
param.model = bsxfun(@rdivide, param.model, sum(param.model .* conj(param.model), 3) + param.regularization);
param.model_f = fft2(param.model);
state(3) = state(3) + param.learning_rate * (target_sz(2) - state(3));
state(4) = state(4) + param.learning_rate * (target_sz(1) - state(4));
end
% 获取特征
function features = get_features(im)
% TODO:使用合适的特征提取方法
end
% 生成高斯响应图
function y = gaussian_shaped_labels(sz, sigma)
if nargin < 2
sigma = 0.5;
end
[rs, cs] = ndgrid((1:sz(1))-floor(sz(1)/2), (1:sz(2))-floor(sz(2)/2));
y = exp(-0.5 / sigma^2 * (rs.^2 + cs.^2));
y = circshift(y, floor(sz/2));
end
```
其中,`get_features` 函数需要根据具体应用选择合适的特征提取方法。在实际应用中,可以采用 HOG 特征、颜色直方图等方式进行特征提取。