Research On Multi-sensor Collaborative Detection And Tracking Based On Infrared And Visual Images

Moving target detection and tracking technology is one of the most important research direction in the field of computer vision, and widely used in modern industry, agriculture, national defense and space technology. However, a single sensor cannot provide sufficient information of the scene in practical applications, so multi-sensor collaborative detection and tracking technology has become hot spots now.This paper focus on the multi-sensor collaborative detection and tracking technology based on infrared and visual images. The main work is as follows.(1) Moving target detection and extraction technologies are studied. A moving target detection method based on adaptive background model is adopted to achieve target detection, and on this basis, target extraction is accomplished. Experiments in complex natural environment show that the method can complete the moving target detection and extraction better.(2) Moving target tracking technology is researched. Movement prediction technology is introduced in detail, and on this basis, a moving target tracking method based on extended Kalman filter is brought forward. Experiments show that the method has some practical value.(3) The evaluation factors of single-sensor tracking results and synthesized evaluation technology of multi-sensor tracking results are studied. First, single-sensor tracking results are analysed. Four evaluation factors are chosen: target area inertia, target width length ratio inertia, target displacement inertia and target speed inertia. Specific mathematical models are established for all evaluation factors. Second, synthesized evaluation technology of multi-sensor tracking results is studied based on the single-sensor evaluation. A multi-sensor evaluation method based on the theory of gray relational analysis is proposed. Finally, the simulation is carried out, and the results prove the correctness of the mathematical model and the effectiveness of the method.(4) The image registration technology is studied. Two image registration methods are put forward for infrared and visual images. One is based on the edge relevance of the sub-image, and the other is based on the corner of the image. Experients show that the algorithms are effective.