A Systematic Solution for Moving-Target Detection and Tracking While Only Using a Monocular Camera
This paper focuses on moving-target detection and tracking in a three-dimensional (3D) space, and proposes a visual target tracking system only using a two-dimensional (2D) camera. To quickly detect moving targets, an improved optical flow method with detailed modifications in the pyramid, warping,...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-05-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/23/10/4862 |
| _version_ | 1797598408194654208 |
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| author | Shun Wang Sheng Xu Zhihao Ma Dashuai Wang Weimin Li |
| author_facet | Shun Wang Sheng Xu Zhihao Ma Dashuai Wang Weimin Li |
| author_sort | Shun Wang |
| collection | DOAJ |
| description | This paper focuses on moving-target detection and tracking in a three-dimensional (3D) space, and proposes a visual target tracking system only using a two-dimensional (2D) camera. To quickly detect moving targets, an improved optical flow method with detailed modifications in the pyramid, warping, and cost volume network (PWC-Net) is applied. Meanwhile, a clustering algorithm is used to accurately extract the moving target from a noisy background. Then, the target position is estimated using a proposed geometrical pinhole imaging algorithm and cubature Kalman filter (CKF). Specifically, the camera’s installation position and inner parameters are applied to calculate the azimuth, elevation angles, and depth of the target while only using 2D measurements. The proposed geometrical solution has a simple structure and fast computational speed. Different simulations and experiments verify the effectiveness of the proposed method. |
| first_indexed | 2024-03-11T03:20:47Z |
| format | Article |
| id | doaj.art-cd612c5589d24e4bb0734a89b498e4ef |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-11T03:20:47Z |
| publishDate | 2023-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-cd612c5589d24e4bb0734a89b498e4ef2023-11-18T03:13:43ZengMDPI AGSensors1424-82202023-05-012310486210.3390/s23104862A Systematic Solution for Moving-Target Detection and Tracking While Only Using a Monocular CameraShun Wang0Sheng Xu1Zhihao Ma2Dashuai Wang3Weimin Li4Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology (SIAT), Chinese Academy of Sciences (CAS), Shenzhen 518055, ChinaGuangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology (SIAT), Chinese Academy of Sciences (CAS), Shenzhen 518055, ChinaShandong Institute of Advanced Technology, CAS, Jinan 250102, ChinaGuangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology (SIAT), Chinese Academy of Sciences (CAS), Shenzhen 518055, ChinaGuangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology (SIAT), Chinese Academy of Sciences (CAS), Shenzhen 518055, ChinaThis paper focuses on moving-target detection and tracking in a three-dimensional (3D) space, and proposes a visual target tracking system only using a two-dimensional (2D) camera. To quickly detect moving targets, an improved optical flow method with detailed modifications in the pyramid, warping, and cost volume network (PWC-Net) is applied. Meanwhile, a clustering algorithm is used to accurately extract the moving target from a noisy background. Then, the target position is estimated using a proposed geometrical pinhole imaging algorithm and cubature Kalman filter (CKF). Specifically, the camera’s installation position and inner parameters are applied to calculate the azimuth, elevation angles, and depth of the target while only using 2D measurements. The proposed geometrical solution has a simple structure and fast computational speed. Different simulations and experiments verify the effectiveness of the proposed method.https://www.mdpi.com/1424-8220/23/10/4862moving-target detectionoptical flowmonocular vision3D target trackingcubature Kalman filter |
| spellingShingle | Shun Wang Sheng Xu Zhihao Ma Dashuai Wang Weimin Li A Systematic Solution for Moving-Target Detection and Tracking While Only Using a Monocular Camera Sensors moving-target detection optical flow monocular vision 3D target tracking cubature Kalman filter |
| title | A Systematic Solution for Moving-Target Detection and Tracking While Only Using a Monocular Camera |
| title_full | A Systematic Solution for Moving-Target Detection and Tracking While Only Using a Monocular Camera |
| title_fullStr | A Systematic Solution for Moving-Target Detection and Tracking While Only Using a Monocular Camera |
| title_full_unstemmed | A Systematic Solution for Moving-Target Detection and Tracking While Only Using a Monocular Camera |
| title_short | A Systematic Solution for Moving-Target Detection and Tracking While Only Using a Monocular Camera |
| title_sort | systematic solution for moving target detection and tracking while only using a monocular camera |
| topic | moving-target detection optical flow monocular vision 3D target tracking cubature Kalman filter |
| url | https://www.mdpi.com/1424-8220/23/10/4862 |
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