| 基于卡尔曼滤波的车辆跟踪技术 |
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| 引用本文： | 周欣,黄席樾.基于卡尔曼滤波的车辆跟踪技术[J].四川师范大学学报(自然科学版),2008,31(6). |
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| 作者姓名： | 周欣 黄席樾 |
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| 作者单位： | 1. 四川大学,计算机学院图像图形研究所,四川,成都,610064
2. 重庆大学,自动化学院导航制导研究室,重庆,400044 |
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| 摘 要： | 为了满足高速行驶下系统对目标的快速定位,介绍了如何运用卡尔曼滤波技术建立一个通用的物体运动模型,从而达到快速跟踪一个或多个运动目标的目的.着重介绍了动态噪声为有色噪声的卡尔曼滤波算法,针对具体对象构造了状态方程和测量方程,并给出了具体计算方法和实验结果.该跟踪技术在四川省高速公路上进行了反复实验,本车时速达到120 km/h时,仍然可以实时跟踪定位前方车辆.
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| 关 键 词： | 机器视觉 车辆跟踪 有色噪声 卡尔曼滤波 |
Vehicle Following Technique Based on Kalman Filter |
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| ZHOU Xin,HUANG Xi-yue.Vehicle Following Technique Based on Kalman Filter[J].Journal of Sichuan Normal University(Natural Science),2008,31(6). |
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| Authors: | ZHOU Xin HUANG Xi-yue |
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| Abstract: | This paper describes the Kalman filter to establish a moving model.This model can be used to track one or more moving objects.We give the state equation and the measure equation for one object.And more,we describe the calculation ways and the experiment result.We have experimented the following technology at 120 km/h on highway in Sichuan Province of China.The result shows that the algorithms can work perfectly. |
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| Keywords: | Machine vision Vehicle following Color noise Kalman filter |
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