An Improved Algorithm for Moving Object Tracking Based on EKF
Kalman filter estimates the desired signal from the amount of measurement related to the extracted signal, which is widely used in engineering due to its simple calculation and easy programming on a computer. However, the basic theory originally proposed by Rudolf E. Kalman is for linear systems only, whereas a realistic physical system is often nonlinear. Extended Kalman Filter (EKF) solves nonlinear filtering problems. In this paper, we focus on issues related with targeted object being occluded We combine EKF and Meanshift to track the moving object. Once the object position is predicted by EKF in the center of the object, then the Meanshift algorithm iterates over the initial value of EKF estimation to track the object. Experiments show that the method reduces the object search time and improves the accuracy of the object tracking.
KeywordsEKF Nonlinear system Meanshift Object tracking
This research was supported in part by grants from the International Cooperation and Exchange Program of Shaanxi Province (2018 K W-026), Natural Science Foundation of Shaanxi Province (2018JM6120), Xi’an Science and Technology Plan Project (201805040YD18C G24(6)), Major Science and Technology Projects of XianYang City (2017k01-25-12), Graduate Innovation Fund of Xi’an University of Posts & Telecommunications (CXJJ2017012, CXJJ2017028, CXJJ 2017056).
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