CN105894535A - Bayes-based vortex automatic tracking method - Google Patents
Bayes-based vortex automatic tracking method Download PDFInfo
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Abstract
The invention discloses a bayes-based vortex automatic tracking method. The method includes the steps of modeling a vortex moving process through Bayes-based kalman filtering, tracking and matching a predicted position and an observation result, and solving the matching conflict of multi-target vortex tracking through a Hungarian optimization algorithm. Matching conflict of a multi-target vortex tracking process is overcome, and the accuracy of a tracking result is improved.
Description
Technical field
The present invention relates to a kind of based on Bayesian vortex method for automatic tracking, belong to ocean eddy automatic Extraction Algorithm field.
Background technology
Mesoscale eddy (abbreviation vortex) is widely distributed in ocean and very important a kind of dynamic phenomenon, it can not only transmit heat,
Propagate nutrient substance, be also the major embodiment of ocean kinetic energy simultaneously.The development of Modern remote observation technology and application are research ocean
The differentiation Evolution of vortex, it is provided that long-time abundant observational data.Excavate from the observational data of these magnanimity and extract
The evolutionary process of vortex, is the basic premise of research eddying motion Evolution.
At present, the method for tracing of vortex evolutionary process mainly has three kinds: 1) range search method, mainly follow the trail of in vortex with current
Heart point is reference settings search radius, falls into the vortex in radius in next moment search, the vortex that selected distance is nearest
As developing follow-up (Chelton et al.2011);2) similarity follow the trail of, on the basis of range search method, add vortex it
Between the tolerance of similarity degree, with develop about most like vortex follow-up (Chaigneau et al.2008);3) area overlap method,
Before and after developing according to vortex, whether spatial shape exists overlap, judges whether to belong to a vortex evolutionary process (Henson et
al.2008)。
These methods existing, algorithm idea is simple, is widely used, but there are 2 deficiencies: one have ignored vortex's motion
No matter essence, be half path search or area overlap, if following the trail of the next moment with the position of current vortex for reference, this
Assume that in matter that the vortex next moment remains in original place and do not moves, and this is not in accordance with facts;Two is when multiple vortex positions
Close to time, easily form complicated tracking and matching problem, as two vortexs the next moment track three potential follow-up, study carefully
Unexpectedly which kind of coupling just best suits vortex's motion feature, and this problem tackles way in existing three kinds of methods the most accordingly.
Summary of the invention
Present invention solves the technical problem that: provide a kind of based on Bayesian vortex method for automatic tracking, use Kalman filter
Eddying motion process is modeled, the problem solving the prediction of vortex subsequent time position, uses Hungarian optimum simultaneously
Change matching algorithm, solve matching conflict problem during multiple vortex target tracking, improve the accuracy following the trail of result.
Technical scheme: a kind of based on Bayesian vortex method for automatic tracking, first builds based on Bayesian
The motor process of vortex is modeled by Kalman filter (Bar-Shalom et al.2001), predicts that vortex is next from probability
The position of moment most probable appearance and effective error scope, then be tracked mating with the result of observation, chase after if there is multiple target
Track mate, then use Hungarian optimization matching algorithm (J.Munkres 1957) search for each vortex target optimal after
Continue.
Specifically comprise the following steps that
Step 1, initialization, set up an empty vortex tracker set, a vortex observation set and an empty tracking
Results set.Each vortex tracker will record the follow-up pass of preamble of a vortex evolutionary process during automatic tracing
System.Vortex observation set will record the eddy information (position, attribute etc.) that each moment observes.Tracking results set will
The vortex tracker that storage record life process has been followed the trail of.The each vortex observing the first moment, builds vortex tracker,
The positional information of record vortex, and create the Kalman filter of default parameters for tracking prediction, then tracker is added to
In vortex tracker set;
Step 2, startup are followed the trail of, and from the next moment, temporally frame is circulated, if being recycled to last frame, chases after
Track stops, and follows the tracks of the vortex tracker that results set is collected, and have recorded the Life Evolution procedural information following the trail of vortex;Otherwise, enter
Row automatic tracing, performs step 3-4;
Step 3, all vortex observations of acquisition current time frame, add in observation set;
Step 4, data association, traversal tracker set in each vortex tracker, first carry out Kalman filter with
Track is predicted, then by all vortexs in the vortex position of prediction and the vortex observation set of range of error and current time, carries out
Association coupling:
If ● be not matched to the vortex in observation set in the range of the forecast error of vortex tracker, then by this tracker from
Set is taken out, joins in the tracking results set that step 1 is set up, show that the Life Evolution process of this vortex has followed the trail of knot
Bundle;
If ● have in the range of the forecast error of vortex tracker and only one coupling vortex observation, then from vortex observation
Set is taken out this vortex, the follow-up vortex traced into as tracker, and use the Kalman filter observation to this vortex
Position is modified, it is thus achieved that filtered vortex position and range of error, and the process trace after carrying out of taking this as the standard;
If ● there is the vortex observation of multiple coupling in the range of the forecast error of vortex tracker, then initially with Hungarian
The bipartite graph (bipartite graph) that this tracker and vortex observation are constituted by algorithm carries out optimization matching, for matching
The vortex tracker of observation, takes out this observation from observation set, the follow-up vortex traced into as tracker, and
Use Kalman filter that the observation position of this vortex is modified, it is thus achieved that filtered vortex position and range of error, and
Take this as the standard the process trace after carrying out;
● if observation set exists the vortex of non-matched jamming device, the most newly-built vortex tracker, add to vortex with
In track device set.
Present invention advantage compared with prior art is: uses based on Bayesian Kalman filter, simulates whirlpool more accurately
The motor process of rotation;Use Hungarian algorithm to solve a complex match conflict difficult problem for multi-target tracking, improve the standard of tracking
Really property.
Accompanying drawing explanation
Fig. 1 is the flowchart of the present invention.
Detailed description of the invention
As it is shown in figure 1, the present invention to be embodied as step as follows:
Step 1, initialization, set up empty vortex tracker set (trackerList), a vortex observation set
(observeList) and one empty tracking results set (completeList).Each vortex tracker is by the process at automatic tracing
In by Ids attribute record vortex ID, storage vortex life process the follow-up relation of preamble.Vortex observation set will note
Record the vortex position that each moment observes.Follow the tracks of the vortex tracker that storage record life process has been followed the trail of by results set.
The each vortex observing the first moment, builds vortex tracker, records the position vector of vortex, and create in Obs attribute
Build the Kalman filter of default parameters for tracking prediction, then tracker is added in vortex tracker set.
Tracker, observation data structure as follows, follow the tracks of results set will collect, the vortex tracker followed the tracks of of storage:
Tracker
Observation
OID | Obs |
Vortex ID | Position detection value vector |
Step 2, startup are followed the trail of, and from the next moment, temporally frame is circulated, if being recycled to last frame, chases after
Track stops, and follows the tracks of the vortex tracker that results set is collected, and have recorded the Life Evolution procedural information following the trail of vortex;Otherwise, enter
Row automatic tracing, performs step 3-4;
Step 3, all vortex observations of acquisition current time frame, add in observation set observeList;
Step 4, data association.Each vortex tracker in traversal tracker set trackerList, first carries out Kalman
The tracking prediction of filtering, is respectively stored into vortex position and the covariance matrix of prediction in Pre and the Cov attribute of tracker,
And calculate mahalanobis (geneva) distance with vortex observation position.Mahalanobis distance computing formula is as follows:
Wherein, X represents predictive value vector, and Y represents that observation vector, Σ represent the covariance matrix of Kalman filter.By
The distribution of card side is met in mahalanobis distance, so when the predictive value vector of vortex tracker is more than with the mahalanobis distance of observation vector
0.05 significant level time, it is believed that observation prediction range of error outside, should foreclose during tracking and matching, otherwise, vortex
Observation, in the range of error of prediction, is tracked mating by following several situations:
If ● be not matched to the vortex in observation set in the range of the forecast error of vortex tracker, then by this tracker from
TrackerList takes out, joins in the tracking results set completeList that step 1 is set up, show the life of this vortex
Evolutionary process has been followed the trail of and has been terminated;
If ● have in the range of the forecast error of vortex tracker and only one coupling vortex observation, then from vortex observation
Set observeList takes out this vortex, the follow-up vortex traced into as tracker, with the renewal of the locus of this vortex with
The Obs attribute of track device, is modified the position of vortex by the Kalman filter in tracker, with filtered meanwhile
Vortex position and error matrix update Upd and the Cov attribute of tracker, and the process trace after carrying out of taking this as the standard;
If ● there is the vortex observation of multiple coupling in the range of the forecast error of vortex tracker, then calculate initially with figure traversal
Method extracts the tracker in bipartite graph and observation, and the mahalanobis distance calculated between tracker and observation obtains distance costs square
Battle array, then uses Hungarian algorithm that this distance costs matrix is carried out optimization matching.For matching the vortex of observation
Tracker, takes out this vortex from vortex observation set observeList, the follow-up vortex traced into as tracker, with being somebody's turn to do
The locus of vortex updates the Obs attribute of tracker, and carries out the position of vortex by the Kalman filter in tracker
Revise, with filtered vortex position and Upd and the Cov attribute of error matrix renewal tracker, and take this as the standard and carry out it
After process trace;
● if observation set exists the vortex of non-matched jamming device, the most newly-built vortex tracker, add to vortex with
In track device set.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for the technical staff of this neighborhood
For, the present invention can change and change.All within the spirit and principles in the present invention, any amendment of being made, equivalent,
Improve, within should be included in scope of the presently claimed invention.
Claims (2)
1. one kind based on Bayesian vortex method for automatic tracking, it is characterised in that step is as follows:
Step 1, initialization, set up an empty vortex tracker set, a vortex observation set and an empty tracking
Results set;Each vortex tracker will record the follow-up pass of preamble of a vortex evolutionary process during automatic tracing
System;Vortex observation set will record the eddy information that each moment observes, follow the tracks of results set by storage record life process
The vortex tracker followed the trail of;The each vortex observing the first moment, builds vortex tracker, the position of record vortex
Information, and create the Kalman filter of default parameters for tracking prediction, then tracker is added to vortex tracker set
In;
Step 2, startup are followed the trail of, and from the next moment, temporally frame is circulated, if being recycled to last frame, chases after
Track stops, and follows the tracks of the vortex tracker that results set is collected, and have recorded the Life Evolution procedural information following the trail of vortex;Otherwise, enter
Row automatic tracing, performs step 3-4, until end time just end loop, stops following the trail of;
Step 3, all vortex observations of acquisition current time frame, add in observation set;
Step 4, data association, traversal tracker set in each vortex tracker, first carry out Kalman filter with
Track is predicted, then by all vortexs in the vortex position of prediction and the vortex observation set of range of error and current time, carries out
Association coupling.
It is the most according to claim 1 based on Bayesian vortex method for automatic tracking, it is characterised in that: described step 4
Middle data association, each the vortex tracker in traversal tracker set, first carry out the tracking prediction of Kalman filter, then
By all vortexs in the vortex position of prediction and the vortex observation set of range of error and current time, it is associated coupling
Process:
(41) if the vortex being not matched in the range of the forecast error of vortex tracker in observation set, then by this tracker
Take out from set, join in the tracking results set that step 1 is set up, show that the Life Evolution process of this vortex has been followed the trail of
Terminate;
(42) if having in the range of the forecast error of vortex tracker and only one coupling vortex observation, then from vortex observe
Value set takes out this vortex, the follow-up vortex traced into as tracker, and use the Kalman filter sight to this vortex
Location is put and is modified, it is thus achieved that filtered vortex position and range of error, and the process trace after carrying out of taking this as the standard;
(43) if there is the vortex observation of multiple coupling in the range of the forecast error of vortex tracker, then initially with
The bipartite graph (bipartite graph) that this tracker and vortex observation are constituted by Hungarian algorithm carries out optimization matching,
For matching the vortex tracker of observation, this observation is taken out from observation set, after tracing into as tracker
Continue vortex, and uses Kalman filter to be modified the observation position of this vortex, it is thus achieved that filtered vortex position and mistake
Difference scope, and the process trace after carrying out of taking this as the standard;
(44) if observation set exists the vortex of non-matched jamming device, the most newly-built vortex tracker, adds vortex to
In tracker set.
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