On-road multi-vehicle tracking algorithm based on an improved particle filter
On-road multi-vehicle tracking algorithm based on an improved particle filter
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DOI：
10.1049/iet-its.2014.0088
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发表时间：
2015-05
影响因子：
2.7
通讯作者：
Peixun Liu;Wenhui Li;Ying Wang;Hongyin Ni
中科院分区：
文献类型：
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作者：
Peixun Liu;Wenhui Li;Ying Wang;Hongyin Ni
前向防撞系统已被证明是一种特别有效的防撞技术。多车辆跟踪能力在此类系统的真实世界性能和有效性中起着重要作用。为了在运动平台和复杂道路环境中有效、准确地跟踪车辆，提出了一种基于改进粒子滤波的多车辆跟踪算法。首先，作者使用的车辆消失检测和处理机制的基础上的归一化面积的最小外接矩形的颗粒分布。该机制用于验证新目标是否为车辆，也可以在跟踪阶段处理车辆退出。其次，一个改进的基于粒子滤波的框架，其中包括一个新的过程动态分布，允许多车辆跟踪能力被用于车辆跟踪。最后，一个有效的遮挡检测和处理机制，用于解决车辆之间的重大遮挡。在算法中的这些增加的改进的组合的结果在各种具有挑战性的条件下的车辆跟踪率的增强。从不同的数据集进行的实验测试表明，在多车辆跟踪，在复杂的交通情况下，在不同的照明条件下的准确性方面表现出色。
Forward collision avoidance systems have shown to be a particularly effective crash-avoidance technology. Multi-vehicle tracking capabilities play an important role in the real-world performance and effectiveness of such systems. In order to effectively and accurately track vehicles in a moving platform and in complicated road environments, the authors proposed a multi-vehicle tracking algorithm based on an improved particle filter. First, the authors used a vehicle disappearance detection and handling mechanism based on the normalised area of the minimum circumscribed rectangle of particle distributions. This mechanism is used to verify whether a new target is a vehicle and can also handle the vehicle exit during the tracking phase. Next, an improved particle filter-based framework, which includes a new process dynamical distribution, allowed for multi-vehicle tracking capabilities was used for vehicle tracking. Finally, an effective occlusion detection and handling mechanism was used to address the significant occlusion between vehicles. The combination of these added improvements in the algorithm results in the enhancement of the vehicle tracking rate in a variety of challenging conditions. Experimental tests carried out from different datasets show excellent performance in multi-vehicle tracking, in terms of accuracy in complex traffic situations and under different lighting conditions.