CAJ | 학술논문

由于基于颜色特征的目标跟踪方法容易受颜色相近的物体影响，造成目标丢失，为了改善这一现象，利用Kinect视觉传感器获取目标的深度信息和颜色信息来计算目标跟踪算法中的粒子权值，从而对基于颜色特征的粒子滤波算法进行改进。为了简化目标跟踪算法中的直方图计算，利用增量式直方图计算的方法，以提高目标跟踪过程中的运算速度。最后通过实验证明结合目标的颜色和深度信息的方法能够很好地克服目标跟踪过程中颜色相近物体的干扰，并将改进的目标跟踪算法应用到移动机器人中，验证了该算法的快速性和鲁棒性。
유우기우안색특정적목표근종방법용역수안색상근적물체영향，조성목표주실，위료개선저일현상，이용Kinect시각전감기획취목표적심도신식화안색신식래계산목표근종산법중적입자권치，종이대기우안색특정적입자려파산법진행개진。위료간화목표근종산법중적직방도계산，이용증량식직방도계산적방법，이제고목표근종과정중적운산속도。최후통과실험증명결합목표적안색화심도신식적방법능구흔호지극복목표근종과정중안색상근물체적간우，병장개진적목표근종산법응용도이동궤기인중，험증료해산법적쾌속성화로봉성。
The target tracking method based on color features is susceptible to the effects of similar color objects , which leads to the loss of the target .In order to overcome this phenomenon , in this paper , the Kinect vision sensor is used to obtain the target depth information and color information to calculate the weights of particles in the target tracking algorithm , and therefore to improve the particle filter algorithm which is based on the color feature .In order to simplify the histogram calculation of the target tracking algorithm , an incremental histogram calculation method is proposed to improve the computational speed of the target tracking process .Finally, through experimentation , the combination of color and depth information of the target can be shown to easily overcome the interference to the tar -get tracking process by similar color objects , and the improved target tracking algorithm is applied to the mobile ro-bot, verifying the rapidness and robustness of the mobile robot target tracking algorithm .