摘要
由于折反射成像的特点,当目标在空间沿直线运动时,在全向图像上的成像轨迹不是直线而是二次曲线,导致在应用普通透视图像的轨迹预测方法时对目标的下一位置预测误差大.本文采用折反射成像统一的球面投影模型把已知的目标在全向图像上的成像点投影到球面上,然后在球面上建立全向卡尔曼滤波器对目标下一个位置进行预测,预测的结果重投影回全向图像上完成目标的位置预测.在合成和实际的全向视频上的实验结果显示修改后的全向卡尔曼滤波器目标位置预测精度和稳定性都得到显著提高.
Because of the features of catadioptric imaging,when the object has linear motion in real space,its trajectory on omnidirectional images is not a straight line,but conic.It leads to the big error in prediction of object＇s next position when applying trajectory prediction method for common perspective image.The authors adopt unifying catadioptric imaging sphere projection model to project object＇s imaging point in omnidirectional images onto the sphere where the author then establishes omnidirectional kalman filter to predict next position of the object.The result of prediction will project back to omnidirectional image to fulfill position prediction of objects.Experimental results in synthetic and real omnidirectional video demonstrate an obvious improvement in accuracy and stabilization of modified omnidirectional kalman filter in object position prediction.
出处
《电子学报》
EI
CAS
CSCD
北大核心
2011年第2期464-470,共7页
Acta Electronica Sinica
基金
国家自然科学基金(No.60705013
No.60872150)
关键词
折反射全向图像
卡尔曼滤波
目标跟踪
轨迹预测
catadioptric omnidirectional image
Kalman filter
object tracking
trajectory prediction
