哈尔滨工程大学学报
哈爾濱工程大學學報
합이빈공정대학학보
JOURNAL OF HARBIN ENGINEERING UNIVERSITY
2014年
2期
141-147
,共7页
马珊%庞永杰%张铁栋%张英浩
馬珊%龐永傑%張鐵棟%張英浩
마산%방영걸%장철동%장영호
前视声呐%多目标跟踪%粒子滤波%自适应融合%粒子权值%水下智能机器人%模糊逻辑
前視聲吶%多目標跟蹤%粒子濾波%自適應融閤%粒子權值%水下智能機器人%模糊邏輯
전시성눌%다목표근종%입자려파%자괄응융합%입자권치%수하지능궤기인%모호라집
forward looking sonar%multi-object tracking%particle tracking%adaptive fusion%particle weight%autono-mous underwater vehicles%fuzzy logic
为了提高基于前视声呐的水下多目标跟踪精度,在粒子滤波跟踪的基础上,采用多特征自适应线索融合策略,通过在线调整特征融合方法计算粒子权值,提取出每个粒子对应模板的多个特征,包括形状与亮度特征、不变矩数字特征和灰度共生矩阵数字特征。采用自适应融合策略对粒子的各个特征权值进行融合得到最终权值,特征线索良好时采用乘性融合策略,否则采用基于模糊逻辑的加权融合策略。采用2组前视声呐水池试验序列图像,通过与传统融合策略进行对比试验,验证了自适应融合策略的有效性,对于实现水下智能机器人的自主跟踪具有重要的意义。
為瞭提高基于前視聲吶的水下多目標跟蹤精度,在粒子濾波跟蹤的基礎上,採用多特徵自適應線索融閤策略,通過在線調整特徵融閤方法計算粒子權值,提取齣每箇粒子對應模闆的多箇特徵,包括形狀與亮度特徵、不變矩數字特徵和灰度共生矩陣數字特徵。採用自適應融閤策略對粒子的各箇特徵權值進行融閤得到最終權值,特徵線索良好時採用乘性融閤策略,否則採用基于模糊邏輯的加權融閤策略。採用2組前視聲吶水池試驗序列圖像,通過與傳統融閤策略進行對比試驗,驗證瞭自適應融閤策略的有效性,對于實現水下智能機器人的自主跟蹤具有重要的意義。
위료제고기우전시성눌적수하다목표근종정도,재입자려파근종적기출상,채용다특정자괄응선색융합책략,통과재선조정특정융합방법계산입자권치,제취출매개입자대응모판적다개특정,포괄형상여량도특정、불변구수자특정화회도공생구진수자특정。채용자괄응융합책략대입자적각개특정권치진행융합득도최종권치,특정선색량호시채용승성융합책략,부칙채용기우모호라집적가권융합책략。채용2조전시성눌수지시험서렬도상,통과여전통융합책략진행대비시험,험증료자괄응융합책략적유효성,대우실현수하지능궤기인적자주근종구유중요적의의。
In order to improve the accuracy of underwater multi-object tracking based on the forward looking sonar, on the basis of particle filter tracking, the multi-feature adaptive clue fusion method was used to switch fusion meth-ods by adjusting features online to calculate the particle weight. Particles were initialized. Then multiple features of the template corresponding to every particle were extracted, including the basic object shape and intensity features, digital features of moment invariants and digital features of the gray level co-occurrence matrix. The final particle weight was obtained by fusing every feature weight using the adaptive fusion method. Multiplicative fusion was a-dopted when the features worked well;otherwise weighted sum fusion based on fuzzy logic was adopted. Sequence images through a tank experiment were used to verify the effects of the adaptive fusion method, in contrast to the traditional fusion methods. The images were obtained by using the forward looking sonar, describing two cross mo-tions. The tracking ability using the adaptive fusion method was found to be better. This method has significant ef-fectiveness for automatically tracking autonomous underwater vehicles.