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西安电子科技大学硕士学位论文智能视频监控系统中运动目标的检测与跟踪姓名:曹朋朋申请学位级别:硕士专业:计算机应用技术指导教师:刘志镜20100101ᨬ㽕㾚乥ڣᑣ߫Ё䖤ࡼⳂᷛⱘẔ⌟Ϣ䎳䏾ᰃᅲ⦄ᱎ㛑㾚乥ⲥ㋏㒳ⱘ݇䬂ᡔᴃˈгᰃ䅵ㅫᴎ㾚㾝ᮍⱘⷨお⛁⚍DŽᴀ᭛Џ㽕ⱘⷨおᎹঞ䋵⤂᳝ϸϾᮍ䴶˖(1)䖤ࡼⳂᷛẔ⌟Ϣߚࡆᮍ䴶ˈᴀ᭛佪ܜߚᵤњᯊ䯈Ꮒߚ⊩㚠᱃ޣ䰸⊩ˈᦤߎњ㚠᱃ൟᮄㄪ⬹ⱘᬍ䖯ᮍ⊩ˈᇍ㚠᱃ⱘᮄऎඳϢᮄᯊ䯈䖯㸠䰤ᅮˈՓᕫ㚠᱃ⱘᮄ᳝䩜ᇍᗻ˗݊ˈᬍ䖯Ӭ࣪⏋ড়催ᮃൟⳌ݇খ᭄ˈৃᴖഎ᱃Ёⱘ᳝ᬜẔ⌟䖤ࡼⳂᷛ˗᳔ৢᦤߎњYUV买㡆ぎ䯈Ёᖿ䗳ⱘ䰈ᕅᡥࠊㅫ⊩ˈᦤ催њ䖤ࡼⳂᷛẔ⌟ⱘޚ⹂ᗻDŽ(2)䖤ࡼⳂᷛ䎳䏾ᮍ䴶ˈᴀ᭛߽⫼䖤ࡼⳂᷛẔ⌟㒧ᵰˈҹⳂᷛⱘᔶᖗǃ䴶⿃ঞ买㡆ⳈᮍᵘᓎҷӋߑ᭄ˈ䗮䖛KalmanⒸ⊶ᅲ⦄䖤ࡼⳂᷛⱘऍ䜡䎳䏾ˈᑊ㒳䅵Ⳃᷛ买㡆Ⳉᮍᯊˈҹ䖤ࡼẔ⌟㒧ᵰЎⷕˈ߽⫼ڣ䞥ᄫศⱘᗱᛇ㒳䅵ࠡ᱃ڣ㋴ⱘ买㡆ߚᏗˈᦤ催њ买㡆Ⳉᮍⱘ䅵ㅫ䗳ᑺ˗ℸˈ䩜ᇍᑨ⫼䳔∖ˈ߽⫼ऩⳂᷛ䎳䏾ˈᅲ⦄ѥৄⱘ㞾ࡼࠊˈ䖯㗠ᇍⳂᷛ䖯㸠ᣕ㓁䎳䏾DŽᴀ㋏㒳ⱘᅲ䰙䖤㸠㒧ᵰ㸼ᯢˈ᠔䞛⫼ⱘㅫ⊩㛑⒵䎇ᅲᯊᗻⱘ䳔∖Ϩ᳝䕗དⱘẔ⌟Ϣ䎳䏾ᬜᵰDŽ݇䬂䆡˖䖤ࡼⳂᷛẔ⌟Ⳃᷛ䎳䏾वᇨ᳐Ⓒ⊶ᱎ㛑㾚乥ⲥAbstractThedetectionandtrackingofmovingtargetsinvideoimagesequencesisthekeytechnologiestoimplementanintelligentvideosurveillance.Itisalsoalong-standingresearchfocusesincomputervision.Themainworkandcontributionsinthethesisincludesthefollowingtwoaspects:(1)Ontheresearchofthemovingobjectsdetection,wefirstlyimprovedtheupdatestrategiesofbackgroundmodelbasedontheanalysisofthetimedifferencemethodandbackgroundsubtractionmethod.Theupdateregionandupdatetimearelimited.Sothebackgroundwillbeupdatedforspecialpurpose.SecondlybyimprovingandoptimizingtherelativeparametersoftheGaussianMixtureModel,movingtargetswillbeeffectivelydetectedincomplexscenes.Lastly,afastshadowsuppressionalgorithminYUVcolorspacewasproposed,andtheaccuracyofthemovingtargetdetectionwasimproved.(2)Ontheresearchofthemovingobjectstracking,basedonthemovingtargetdetection,acostfunctionisconstructedusingthecentroid,areaandcolorhistogramofthetarget.AndthetrackingofmultiplemovingtargetsisrealizedthroughKalmanfilter.Withthemotiondetectionresultsasthemaskimage,thecolordistributionoftheforegroundiscalculatedusingtheideaofimagepyramid.Thecomputingspeedofcolorhistogramwasimproved.Moreover,thePTZ(Pan/Tilt/Zoom)willbeturnedautomaticallybasedonasingletargettrackinginpracticaluse.Thusanobjectcanbetrackedcontinuously.Thepracticalresultofthesystemshowsthattheproposedalgorithmsmeettheneedsofreal-timeandhaveagooddetectionandtrackingresults.Keyword:MovingTargetDetectionObjectTrackingKalmanFilterIntelligentVideoSurveillance߯ᮄᗻໄᯢᴀҎໄᯢ᠔ਜѸⱘ䆎᭛ᰃ៥ϾҎᇐᏜᣛᇐϟ䖯㸠ⱘⷨおᎹঞপᕫⱘⷨお៤ᵰDŽሑ៥᠔ⶹˈ䰸њ᭛Ё⡍߿ࡴҹᷛ⊼㟈䇶Ё᠔㔫߫ⱘݙᆍҹˈ䆎᭛Ёϡࣙ݊ҪҎᏆ㒣থ㸼᪄ݭ䖛ⱘⷨお៤ᵰ˗гϡࣙЎ㦋ᕫ㽓ᅝ⬉ᄤ⾥ᡔᄺ݊Ҫᬭ㚆ᴎᵘⱘᄺԡ䆕к㗠Փ⫼䖛ⱘᴤ᭭DŽϢ៥ϔৠᎹ䖛ⱘৠᖫᇍᴀⷨお᠔خⱘӏԩ䋵⤂Ꮖ䆎᭛Ёخњᯢ⹂ⱘ䇈ᯢᑊ㸼⼎њ䇶ᛣDŽ⬇䇋ᄺԡ䆎᭛Ϣ䌘᭭㢹᳝ϡᅲП໘ˈᴀҎᡓᢙϔߛⳌ݇䋷ӏDŽᴀҎㅒৡ˖᮹ᳳ݇Ѣ䆎᭛Փ⫼ᥜᴗⱘ䇈ᯢᴀҎᅠܼњ㾷㽓ᅝ⬉ᄤ⾥ᡔᄺֱ᳝݇⬭Փ⫼ᄺԡ䆎᭛ⱘ㾘ᅮˈे˖ⷨお⫳᷵ᬏ䇏ᄺԡᳳ䯈䆎᭛Ꮉⱘⶹ䆚ѻᴗऩԡሲ㽓ᅝ⬉ᄤ⾥ᡔᄺDŽᴀҎֱ䆕↩Ϯ⾏᷵ৢˈথ㸼䆎᭛Փ⫼䆎᭛Ꮉ៤ᵰᯊ㕆ৡऩԡҡ✊Ў㽓ᅝ⬉ᄤ⾥ᡔᄺDŽᄺ᳝᷵ᴗֱ⬭䗕Ѹ䆎᭛ⱘॄӊˈܕ䆌ᶹ䯙׳䯙䆎᭛˗ᄺ᷵ৃҹ݀Ꮧ䆎᭛ⱘܼ䚼䚼ߚݙᆍˈৃҹܕ䆌䞛⫼ᕅॄǃ㓽ॄ݊ᅗࠊ↉ֱᄬ䆎᭛DŽ˄ֱᆚⱘ䆎᭛㾷ᆚৢ䙉ᅜℸ㾘ᅮ˅ᴀᄺԡ䆎᭛ሲѢֱᆚᑈ㾷ᆚৢ䗖⫼ᴀᥜᴗкDŽᴀҎㅒৡ˖᮹ᳳᇐᏜㅒৡ˖᮹ᳳϔゴ㒾䆎1ϔゴ㒾䆎ᱎ㛑㾚乥ⲥ㋏㒳ᰃ䅵ㅫᴎ㾚㾝ᮍЁϔϾ䴲ᐌ⌏䎗ⱘᑨ⫼乚ඳˈ᳔䖥ᑈᕫࠄњ䖙䗳ⱘথሩˈ݊ⷨおⳂⱘᰃՓ⫼䅵ㅫᴎҷ᳓Ҏᇍⲥഎ᱃Ёⱘ䖤ࡼⳂᷛ䖯㸠⧚㾷ߚᵤˈᰃϔϾ䎼ᄺ⾥ⱘ᳝ᣥᗻⱘⷨお䇒乬[1]DŽᴀ᭛Џ㽕ᇍ݊݇䬂ᡔᴃ䖤ࡼⳂᷛẔ⌟Ϣ䖤ࡼⳂᷛ䎳䏾ᡔᴃ䖯㸠ⷨおϢᅲ⦄DŽᴀ䇒乬ᴹ⑤Ѣᑓϰⳕᬭ㚆䚼ѻᄺⷨ㒧ড়ϧ乍䌘䞥乍Ⳃ“㔥㒰࣪ᱎ㛑ⲥ㋏㒳ⷨお”(D90704017)䌘ࡽ䇒乬ˈ䆒䅵ᑊᅲ⦄њ㔥㒰࣪㾚乥ⲥ㋏㒳DŽ1.1䇒乬ⷨおⱘⷨお㚠᱃ঞᛣН䱣ⴔ㔥㒰ⱘϡᮁথሩҹঞ㾚乥ڣ໘⧚ᡔᴃⱘϡᮁᬍ䖯ˈ㔥㒰࣪㾚乥ⲥ㋏㒳᮹ⲞফࠄҎӀⱘ䞡㾚ˈ݊䳔∖ϡᮁࡴDŽ㾚㾝ᰃҎ㉏ᛳⶹ⬠ֵᙃⱘЏ㽕䗨ᕘˈ㾚乥ⲥ[2]ҹ݊Ⳉ㾖ǃᮍ֓ݙᆍЄᆠㄝ⡍⚍ফࠄҎӀⱘ䴦ⴤDŽҎ㉏ᛳᅬফⱘֵᙃЁ㑺᳝80ˁᴹ㞾Ѣⴐ᠔㾖ᆳⱘ㾚乥ڣ[3]ˈ㾚乥ᰃᇍᅶ㾖џ⠽ᔶ䈵⫳ࡼⱘᦣ䗄ˈᰃϔ⾡Ⳉ㾖Ϩԧⱘֵᙃ㸼䖒ᔶᓣDŽᱎ㛑㾚乥ⲥᡔᴃሲѢ䅵ㅫᴎ㾚㾝ϢҎᎹᱎ㛑乚ඳⷨおⱘϔϾߚᬃˈᅗᇍ㾚乥ڣᑣ߫䖯㸠ߚᵤˈᦤপֵᙃǃথ⦄ᛳ݈䍷џӊˈҢ㗠ৃҹᶤѯഎড়ҷ᳓ҎЎⲥ[4]ˈⲥ㾚എ᱃Ϣџӊᦣ䗄П䯈ᓎゟϔ⾡ᇘ݇㋏DŽ䖥ᑈᴹˈ㾚乥ⲥᑓ⊯ᑨ⫼Ѣ⾡എড়ˈᱎ㛑㾚乥ⲥ㋏㒳ϡҙヺড়ֵᙃѻϮⱘᴹথሩ䍟[5]ˈ㗠Ϩ㭈㮣ⴔᎼⱘଚᴎ㒣⌢ᬜⲞˈ៤ЎⳂֵࠡᙃѻϮЁ乛ফ݇⊼ⱘѻકDŽབԩ䅽ⲥ㋏㒳㛑㞾ࡼ⧚㾷㾚乥Ёⱘֵᙃˈᑊḍ㾚乥Ёⱘֵᙃ㞾ࡼخⳌᑨⱘᱎ㛑໘⧚ᰃ䅵ㅫᴎ㾚㾝ⱘϔϾ䞡㽕䇒乬DŽϔ㠀ᇚᱎ㛑㾚乥ⲥᡔᴃ[7]ⱘ໘⧚䖛ߚЎϝϾ䰊↉˖ϔ䰊↉ᰃҢ㾚乥ڣЁᦤপߎ䖤ࡼⳂᷛ˗Ѡ䰊↉Џ㽕ᇍẔ⌟ᕫࠄⱘⳌ݇䖤ࡼⳂᷛ䖯㸠䎳䏾˗ϝ䰊↉Ўᱎ㛑ߚᵤ䰊↉ˈࣙᣀϔѯԧⱘᱎ㛑ߚᵤࡳ㛑ˈབ㸠ЎߚᵤⳂᷛ䅵᭄ㄝԧᑨ⫼DŽ䖭ḋՓᕫⲥ㋏㒳㞾ࡼ㦋পǃߚᵤ䚼ֵᙃⱘ㛑ˈЏࡼഄ㒭Ҏ㉏ᦤկ⾡᳝⫼ⱘֵᙃ᳡ࡵˈᑊ䗮䖛ߚᵤخߎⳌᑨⱘડᑨˈ߸ᮁഎ᱃Ёᰃ৺থ⫳ᓖᐌџӊˈ䖯㗠䞛পᖙ㽕ᮑᑊঞᯊথߎ䄺ֵোˈৠᯊ䆄ᔩ᳝݇ॳྟ䌘᭭ঞ䆕ˈ䅽ⲥ㋏㒳ࡴᱎ㛑࣪Ҏᗻ࣪DŽᘏⱘᴹ䇈ˈᱎ㛑㾚乥ⲥЏ㽕ᄬҹϟⱘᑨ⫼˖(1)⿏ࡼպ⌟˖䆚߿ߎⲥഎ᱃Ёⱘ䖤ࡼⳂᷛˈ߸ᮁഎ᱃ᰃ৺᳝䖤ࡼⳂᷛ䯃ܹDŽৃ䆚߿㾚乥ᑣ߫Ёⱘ䖤ࡼⱘҎǃ䔺䕚⠽ԧㄝӏԩ䖤ࡼⳂᷛDŽ(2)䄺៦ऎඳⲥ˖ᔧⲥ⬏䴶Ё᳝Ҏҹঞ䔺䕚ǃㆅǃࣙㄝ⾡⠽ԧҢ乘ᅮऎඳⱘ䖍⬠䖯ܹࠄ䆹乘ᅮऎඳᯊˈे㾺থܹ։䄺DŽ䆹ऎඳгᰃ⬏䴶Ё乘ᅮⱘ㰮ᢳऎඳˈৃҹᰃⶽᔶ㗙ϡ㾘߭ⱘ䖍ᔶDŽᱎ㛑㾚乥ⲥ㋏㒳Ё䖤ࡼⳂᷛⱘẔ⌟䎳䏾2(3)Ҏԧ㸠Ўߚᵤ˖ⳂᷛẔ⌟ߚ㉏ⱘ⸔Ϟˈ߽⫼Ҏԧⱘ⾡㸠Ў⡍ᕕᇍ݊᠔䖯㸠⾡㸠Ўⱘᦣ䗄ߚᵤˈ䆚߿ߎ䙷ѯॅ䰽᳝┰ॅ䰽ⱘ㸠Ўˈབᠧ᭫ǃᡶ༎⠀㸠ㄝ㸠Ўˈ㾺থ䄺ᑊৃᇍ᳝ॅ䰽㸠Ўⱘ䖤ࡼⳂᷛ䖯㸠䎳䏾DŽ(4)Ⳃᷛ䎳䏾˖պ⌟ࠄ⿏ࡼ⠽ԧПৢˈḍ⠽ԧⱘ䖤ࡼᚙމˈ㞾ࡼথ䗕PTZ(Pan/Tilt/Zoom)ࠊᣛҸˈ㞾ࡼᓩᇐᨘڣ༈ѥৄᅲᯊ䎳䏾⿏ࡼ⠽ԧˈՓᕫ㾚ڣ༈ᤩ㦋ࠄⱘ㾚乥᳝ⱘৃ⫼ֵᙃDŽ(5)⒲⬭⠽ક䆚߿˖乘ᅮऎඳЁⲥⳂᷛᇚ⠽ԧ䘫ᓗѢ乘ᅮऎඳݙˈৠᯊ⠽ԧ乘ᅮⱘᯊ䯈ݙ㹿প䍄ˈे㾺থ䘫ᓗ䄺ˈᎹҎਬᇚϔᯊ䯈থ⦄㹿䘫ᓗⱘϡᯢ⠽ԧˈঞᯊ䍊ᕔ⦄എᥦ䰸ৃ⭥⠽ԧDŽ(6)⠽કপ䍄䆚߿˖ᇍ⡍⅞Ⳃᷛ䖯㸠ᅲᯊᅮ⚍ⱘⲥˈϔᮺ⿏䍄⿏ࡼ䆹⠽કᯊˈᇚゟࠏ㾺থপ䍄䄺ˈ䰆ℶ䞡㽕Ⳃᷛⱘ϶༅DŽ(7)こ䍞㒳䅵˖㒳䅵こ䍞ܹষᣛᅮⱘϔϾẔ⌟ऎඳⱘҎ⠽ԧⱘ᭄䞣DŽৃ⫼Ѣ䔺キǃᮙ␌᱃⚍ⱘҎ᭄㒳䅵ϞDŽҹϞᱎ㛑ⲥ㋏㒳ⱘЏ㽕ࡳ㛑ৃᑓ⊯⫼Ѣ⾡എড়ˈϨ䩜ᇍԧᑨ⫼ৃᅲ⦄ᱎ㛑ߚᵤ⧚㾷ⱘࡳ㛑DŽ䰸њᱎ㛑ߚᵤⱘࡳ㛑ҹˈᱎ㛑ⲥ㋏㒳䖬᳝ҹϟ⡍⚍˖(1)24x7ܼৃ䴴ⲥˈᕏᑩᬍবҹᕔᅠܼ⬅ᎹҎਬᇍⲥ⬏䴶䖯㸠ⲥ㾚ߚᵤⱘᓣ˗(2)㔥㒰࣪乘㾜ˈՓ⫼᠋㛑䗮䖛IP㔥㒰(LAN/WAN/Internet)䖰乘㾜㾚乥ᑊৃᔩࠊᄬټ˗(3)ᦤ催ડᑨ䗳ᑺˈᇚӴ㒳ⲥ㋏㒳ⱘџৢ㾖⌟ব៤њᅲᯊߚᵤ乘䄺˗(4)֓Ѣᶹᡒˈᇍџӊ⬏䴶㒣䖛њᱎ㛑ߚᵤ䖛Ⓒˈҙֱ⬭䆄ᔩњ᳝⫼ⱘֵᙃˈབՓᨘڣ༈䎳䏾䖤ࡼⳂⱘህᰃЎ䆄ᔩᛣНⱘֵᙃDŽ⬅Ѣᱎ㛑㾚乥ⲥ᮴⊩↨ᢳⱘӬ⚍ˈᱎ㛑㾚乥ߚᵤᡔᴃ᳔䖥ᑈᕫࠄњ䖙䗳থሩˈ䖤ࡼⳂᷛẔ⌟Ϣ䎳䏾Ўᱎ㛑㾚乥ⲥⱘḌᖗᡔᴃˈⳂࠡᏆ᳝⾡ϡৠⱘㅫ⊩ˈԚ⫼Ѣᅲᯊ⦃๗Ё䖬Ӯᄬϔᅮⱘ䯂乬ˈ〇ᅮعໂⱘᱎ㛑㋏㒳䳔㽕Ў剕Ầⱘㅫ⊩ˈ䳔㽕䖯ϔℹⱘⷨおߚᵤDŽ1.2ݙⷨお⦄⢊⬅Ѣᱎ㛑㾚乥ⲥⱘᑨ⫼䳔∖ϡᮁ䭓ˈ㒋㒋ᇚᱎ㛑㾚乥ⲥᡔᴃⱘⷨおܹ߫ࠄ䞡㽕᮹ˈݙᇍ㾚乥ⲥᡔᴃⱘⷨおᓔথ䍞ᴹ䍞ফࠄҎӀⱘ݇⊼DŽ䆌݇Ѣ㾚乥ⲥⱘⷨお乍ⳂᏅ㒣㕢ǃ⌆᮹ᴀㄝᆊഄऎሩᓔˈৠᯊˈᅗг៤Ў䆌䰙ᄺᴃӮ䆂݇⊼ⱘ䞡㽕Џ乬ˈݙϔѯ䅵ㅫᴎ㾚㾝ᴗ࿕ᳳߞབCVIU(ComputerVisionandImageUnderstanding)䞡㽕ⱘᄺᴃӮ䆂བICCV(InternationalConferenceonComputerVision)ㄝ䛑ᇚᱎ㛑ⲥ㋏㒳ⱘⳌ݇ᡔᴃЎЏ乬ݙᆍПϔˈЎ䆹乚ඳⱘⷨおҎਬᦤկњᅱ䌉ⱘѸ⌕ᴎӮDŽ1996ᑈ㟇1999ᑈ䯈ˈ㕢䰆催㑻ⷨお䅵ߦሔ(DARPA)䌘ࡽϟˈवݙϔゴ㒾䆎3ṙ䱚ᄺǃ᠈㓈SARNOFFⷨおЁᖗㄝᆊ㨫ৡⷨおᴎᵘড়ˈ㘨ড়ⷨࠊњ㾚乥ⲥ㾚Ϣⲥ㋏㒳VSAM(VisualSurveillanceandMonitoring)[6]DŽVSAMⱘⳂᷛᰃЎᴹජᏖഎⲥᑨ⫼ᓔথⱘϔ⾡㞾ࡼ㾚乥⧚㾷ᡔᴃˈ⫼Ѣᅲ⦄ᴹѝЁҎⲥ䌍⫼ᯖ䌉ǃ䴲ᐌॅ䰽㗙Ҏ᮴⊩ᅲ⦄ㄝഎড়ϟⱘⲥDŽ2000ᑈˈMarylandᄺ⬅HaritaogluㄝҎᓔথⱘᅲᯊᱎ㛑ⲥ㾚㋏㒳W4㋏㒳[8]ϡҙ㛑ᅮԡҎߚࡆߎҎⱘ䑿ԧ䚼ߚˈ㗠Ϩ䗮䖛ᓎゟ㾖ൟᴹᅲ⦄Ҏⱘ䎳䏾ˈ݊ЁW4ҷ㸼Who(䇕)ˈWhen(ҔМᯊ)ˈWhere(ҔМഄ⚍)ˈWhat(ҔМџ)ˈW4䞛⫼ऩⳂ♄ᑺ㑶ᨘڣᴎЎ㾚㾝Ӵᛳ఼ˈҹⳂᷛᔶ⢊ߚᵤ䎳䏾ᡔᴃᅲ⦄Ҏԧঞ݊༈䚼ǃ䚼ㄝᅮԡˈᑊᇍⳂᷛ㾖䖯㸠ᓎˈҹ֓Ⳃᷛࡴ䙂ᣵᯊձ✊㛑䖯㸠䎳䏾DŽ2005ᑈˈ㕢Ё༂ԯ㔫䞠䖒ᄺ䅵ㅫᴎ㾚㾝ᅲ偠ᅸᓔথߎњ
本文标题:智能视频监控系统中运动目标的检测与跟踪
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