HỌC VIỆN CÔNG NGHỆ BƯU CHÍNH VIỄN THÔNG ------------------------------------ LƯU VĂN QUYỀN SỬ DỤNG BỘ LỌC KALMAN TRONG BÀI TOÁN BÁM MỤC TIÊU CHUYÊN NGÀNH: KỸ THUẬT VIỄN THÔNG Mãsố: 60.52.02.08 TÓM TẮT LUẬN VĂN THẠC SĨ HÀ NỘI - NĂM 2013
HC VIN CNG NGH BU CHNH VIN THNG
------------------------------------
LU VN QUYN
S DNG B LC KALMAN
TRONG BI TON BM MC TIU
CHUYN NGNH: K THUT VIN THNG
Ms: 60.52.02.08
TM TT LUN VN THC S
H NI - NM 2013
Lun vn c hon thnh ti: HC VIN CNG NGH BU CHNH VIN THNG
Ngi hng dn khoa hc: GS.TSKH. NGUYN NGC SAN
Phn bin 1:.
Phn bin 2:.
Lun vn s c bo v trc hi ng chm lun vn thc s ti
Hc vin Cng ngh Bu chnh Vin thng
Vo lc:.gi..ngy.thng.nm..
C th tm hiu lun vn ti:
- Th vin ca Hc vin Cng ngh Bu chnh Vin thng
1
M U Vi s pht trin ca khoa hc k thut. Nhu cu s dng h thng nh v v
dn ng tr thnh mt nhu cu khng th thiu trong cuc sng ngy nay. T
ngun gc vic theo di bm st mc tiu hin i ngy nay l s kt hp ca cc
khoa hc k thut nhn dng mc tiu v phng php theo di i tng, bao gm
v tr, kch thc, hnh dng vn tc ca i tng. Bm mc tiu s dng cho nhiu
mc ch khc nhau nh v tinh gim st khng gian c s dng theo di cc
chuyn ng ca mc tiu nht nh.
Thi gian gn y vic ng dng b lc Kalman c lng qu o ca i
tng qua cc khung hnh c s dng nhiu trong cc thit b in t dn dng nh
Camera gim st, iu hng Robot, d tm mn, thit b kim tra hnh l. Cho n
nay c nhiu cng trnh nghin cu v lnh vc bm bt mc tiu trn c s x l
nh v cc thut ton bm theo i tng chuyn ng nh: So khp mu, Mean-
shift, Camshift, Particle, Kalman Mi phng php c cc u im v nhc im
khc nhau v cho hiu qu nht nh vi tng loi i tng v mc tiu theo di
khc nhau.
Ni dung ca lun vn c cu trc thnh cc phn nh sau:
Chng I. Tng qut v l thuyt bm mc tiu
Chng II. S dng b lc Kalman trong bi ton bm mc tiu
Chng III. V d minh ho
2
CHNG I: TNG QUT V L THUYT
BM MC TIU 1.1. Nhng khi nim c bn.
1.1.1 nh ngha v bi ton bm mc tiu Cho mt i tng (S) c u ra l y(t) trc tc ng ca u vo u(t)
Hnh 1.1. S ca i tng iu khin vi u vo v u ra
Bi ton bm mc tiu cn phi tm tn hiu iu khin u vo sao cho tn
hiu u ra ( )y t bm theo mc tiu.
1.1.2 nh ngha v sai s Hu nh cc phng php nh gi, c lng tham s m hnh c xy
dng trn c s p dng nguyn l v k thut tham chiu, trong xc nh mt
hm sai s phn nh s khc lch gia m hnh v h ng hc thc.
1.1.2.1 Phng php sai s u ra
Hm sai s c nh ngha:
0 ( ) ( ) ( )e t y t y t= (1.1) 1.1.2.2 Phng php sai s u vo
Trong phng php sai s u vo khng s dng trc tip d liu o lng v
o hm cc bc theo thi gian ca tn hiu u vo h ng hc nn khng cn phi
quan tm n c tnh kch thch lin tc nn bi ton c lng tham s m hnh ni
ring, nhn dng h ng hc ni chung bao gi cng c nghim.
1.1.2.3 Phng php sai s phng trnh.
Sai s phng trnh c nh ngha trc tip t phng trnh ng hc ca
m hnh nh sau:
( ) ( ) ( ) ( ) ( )ce t H s y t K s u t= (1.2)
31.1.2.4 Phng php sai s d bo
Sai s d bo c nh ngha nh sau:
( ) ( )( ) ( ) ( ) ( )( )pe
C s K se t y t u tH sD s
= (1.3)
1.1.3 S dng tiu ch ti u
1.1.3.1 Khi nim
Ch tiu cht lng J ca mt h thng c th c nh gi theo sai lch ca
i lng iu khin, thi gian qu hay theo mt ch tiu hn hp trong iu kin
lm vic nh hn ch v cng sut, tc , gia tc
1.1.3.2 Tiu ch ti u tc ng nhanh (thi gian ti thiu)
i vi bi ton ti u tc ng nhanh th ch tiu cht lng J c dng.
0
1T
J dt T= = (1.6) 1.1.3.3 Tiu ch nng sut ti u.
Nng sut y c xc nh bi cht lng ca h thng bm theo mc tiu
trong thi gian T nht nh. Khi ch tiu cht lng J c dng.
00 0
[ ( ), ), ]T T
TJ L x t ut t dt tdt = = = (1.7) 1.1.3.4 Tiu ch nng lng ti u.
Ch tiu cht lng J i vi tiu chi nng lng ti thiu c dng.
2
0
( )T
J u t dt= (1.10) 1.1.4 Xy dng khu phn hi. Xt mt h thng c m t bi cc phng trnh u ra v trng thi:
x Ax Buy Cx= + =
& (1.11)
Chn mt lut iu khin c dng:
( )u r Kx= (1.12)
4
x&
Hnh 1.3: iu khin s dng phn hi bin trng thi
1.1.5 Xy dng iu khin bm bng phn hi trng thi. Bi ton t ra l iu khin i tng c m t:
A
T
dx x budty c x
= +=
(1.17)
0 1 1
1 2
0 0 ... 0 00 0 ... 0
01
( )n
n
dx z udt
a a a
y c c c z
= + =
MM M M
% % %L
(1.18)
Taz
Hnh 1.4 iu khin bm vi i tng (1.18)
i tng(1.17)
STaz x
u y
Hnh 1.5 iu khin bm vi i tng (1.17)
51.1.6 Bi ton tng hp h thng
Bi ton tng hp h thng l ton b qu trnh tnh ton, la chn b sung
thm cc khu ph hp vo h thng. h thng khi hot ng t c nhng
yu cu cht lng ra v sai lch, thi gian p ng qu .
1.2 Phng php bm mc tiu truyn thng.
1.2.1 Tho lun phng php iu khin truyn thng s dng thng tin, d liu ca tn hiu u ra ca i
tng iu khin lm tn hiu u vo a ra tn hiu iu khin i tng.
H thng ny c biu din bi cc phng trnh sau:
( ) ( ) ( ) ( ) ( )x t A t x t B t u t= +& (1.25) '( ) ( ) ( )y t C t x t= (1.26)
Hnh 1.8 H thng iu khin c in
1.2.2 B iu khin PID: (Proportional-Integral-Derivative) Tn gi PID l ch vit tt ca ba thnh phn c bn c trong b iu khin
(hnh 1.10a) gm khu khuch i (P), khu tch phn (I), khu vi phn (D).
sDT
1
IT s
Hnh 1.10 iu khin vi b iu khin PID
B iu khin PID c m t c dng tng qut sau.
0
1 ( )( ) [ ( ) ( ) ]t
P DI
de tu t k e t e d TT dt
= + + (1.28) T m hnh vo ra tng qut ta c c hm truyn ca b iu khin PID
61( ) [1 s]P DI
R s k TT s
= + + (1.29)
1.2.3 Chn tham s PID ti u theo sai lch bm Bi ton c nhim v xc nh cc tham s ca b iu khin PI, gm kp, TI
trong cng thc (1.29) hoc kp, TI, TD trong cng thc (1.31) sao cho tn hiu ra y(t)
bm c vo hiu lnh (t) mt cch tt nht theo ngha.
2 2( ) ( ) ( ) minQ t y t e t= = (1.32)
V bi ton thit k b iu khin PID ti u tr thnh
arg min ( )p f p = (1.34) 1.3. Phng php bm mc tiu hin i.
1.3.1. Tho lun phng php. L thuyt iu khin hin i s dng m t khng gian trng thi trong min
thi gian, mt m hnh ton hc ca mt h thng vt l nh l mt cm u vo, u
ra v cc bin trng thi quan h vi phng trnh trng thi bc mt.
Xut pht t quan im d trin khai l trng hp lut iu khin tuyn
tnh, c cho bi:
u(t) = K(x(t),t) (1.36)
Hnh 1.12: M hnh phng php iu khin hin i.
71.3.2. B quan st trng thi.
B C
A
B C
A
L
System
u ++
x& xy
x&++
Observer
y
x
x
Hnh 1.14 B quan st trng thi Luenberger bc y
H thng trong hnh 1.14 c nh ngha bi:
x Ax Bu= +& (1.38) y Cx= (1.39)
1.3.3 iu chnh trng thi (LQR) (Linear Quadratic Regulator) Kho st vn duy tr trng thi ca h thng gi tr l 0, chng tc ng
nhiu, ng thi vi cc tiu tiu hao nng lng 0, (0)x Ax Bu x x= + =& (1.43)
y Cx=
0
1min ,2
T TJ x Qx u Ru dt = + (1.44)
Chn lut iu khin hi tip trng thi u = - Kx, K l hng s, thay vo biu
thc ca J
0
1 ( )2
T TJ x Q K RK xdt
= + (1.45) 1.3.4 Gii thut thit k LQG (Linear Quadratic Gausian)
Gi s phng trnh o lng ng ra c cho bi.
8wx Ax Bu = + +& (1.57)
y Cx v= + Gi s phng trnh hi tip c trng thi y .
u = -Kx + r (1.58)
Nu K c chn s dng phng trnh Riccati LQR v L c chn bi s
dng phng trnh Riccati ca b lc Kalman. iu ny c gi l thit k LQG.
iu quan trng ca cc kt qu ny l trng thi hi tip ca K v li ca b quan
st L c th c thit k ring r.[4]
1.3.5 M t b c lng trng thi gim bc Cho mt h ng hc S tuyn tnh bc n m t bi
(S) n n n n nx A x B u= +& (1.62) n n ny C x= Vi , bc ca phn ng thi iu khin v quan st c ca S, cc
vector v ma trn c kch thc ph hp.
Hy xc nh b nh gi trng thi (SE) bc e,
(SE) e e e e ex A x B u= +& (1.63) e e ey C x=
1.3.6 Gim bc phn t iu khin Cc bi ton lin quan n phn t iu khin da vo tn hiu phn hi lm
c s ra chin lc iu khin v cn phi x l trong khu khp kn. T v tr
xut pht ca tn hiu phn hi m trong l thuyt h thng chia ra thnh iu khin
truyn thng v iu khin hin i
1.4. Vai tr ca b lc Kalman
1.4.1 t vn . Phng trnh trng thi ca i tng
wx Ax Bu = + +& (1.72) y Cx v= + (1.73)
9
x&
x& x
x
y
Hnh1.15 B quan st trng thi ca Kalman
Phng trnh trng thi ca khu lc Kalman:
( ) x Ax Bu L y yy Cx= + + =
& (1.74)
Mc tiu ca thit k b lc Kalman l tm li c lng L c s c lng ti
u trong s hin din ca nhiu w(t) v v(t)
Sai s c lng:
( ) ( ) ( )x t x t x t= (1.75) 1.4.2 M hnh ton hc.
1.4.3 Qu trnh c lng trng thi. Qu trnh c lng s dng phng php mch lc Kalman trong gim st bm mc
tiu dc chia thnh hai giai on.
10
1k x F x
=
1T
k kP FP F Q
= +
1T Tk k kK P H ( HP H R )
= +k k k k k x x K ( z Hx )
= +
1k k kP ( K H )P=
Thc cht ca gii thut Kalman tuyn tnh l mt phng php c tnh
quy tuyn tnh cho php c lng trng thi ca mt h thng c nhiu sao cho
lch gia gi tr c lng v gi tr thc t l b nht.
1.4.4 Vai tr ca b lc Kalman Lc Kalman nhm c lng gi tr ch thc ca mt ci g , bng cch d
on gi tr ca n v tnh tin cy (hay bt nh) ca d on , ng thi o
c gi tr (nhng b sai s v c cc nhiu), sau ly mt trung bnh c trng gia
gi tr d on v gi tr o c c, lm gi tr c lng. C th coi n l mt
trng hp ca suy din c iu kin kiu bayes Cc thuc tnh c bn ca b
lc Kalman c bt ngun t cc yu cu ca c lng trng thi.
1.5 Kt lun chng Trong chng ny lun vn nu ra c cc khi nim c bn v bi ton bm
mc tiu, trn nhng khi nim c bn nu ra c phng php bm mc tiu
truyn thng, phng php bm mc tiu hin i. T tm ra vai tr ca b lc
Kalman trong bi ton bm mc tiu.
11
CHNG II: S DNG B LC KALMAN
TRONG BI TON BM MC TIU 2.1. Cc bin th ca b lc Kalman
2.1.1. Nguyn tc c bn Trong ng dng gim st, bm mc tiu di ng, mch lc Kalman l qu trnh lp i
lp li bc d on v hiu chnh trng thi ca h thng [13]. Xt mt h thng i
din bi mt khng gian trng thi nh phng trnh (2.1) v (2.2).
xk = Fxk-1 + vk (2.1) zk = Hxk + ek (2.2)
2.1.2. Mch lc Kalman tuyn tnh Mch lc Kalman tuyn tnh a ra mt c lng ti u cho trng thi k -tip s
dng cng thc tuyn tnh, gi s cc bin c phn b xc sut Gaussian.
- Gi tr trung bnh cho trng thi k tip:
1 k kx Fx = (2.3) - Hip phng sai ca c lng k tip:
1 Tk kP FP F Q = + (2.4) - Tnh ton li mch lc Kalman:
1( )T Tk k kK P H HP H R = + (2.5) - Gi tr hiu chnh trung bnh:
( )k k k k kx x K z Hx = + (2.6) - Hiu chnh hip phng sai:
( )k k kP I K H P= (2.7) 2.1.3. Mch lc Kalman m rng B lc Kalman m rng thc hin theo cc bc c lng
- Gi tr trung bnh cho trng thi k tip:
1 k kx x = (2.8) - Hip phng sai ca c lng k tip:
1k kP P Q = + (2.9)
12- Tnh ton li mch lc Kalman:
1( )k k kK P P R = + (2.10) - Gi tr hiu chnh trung bnh:
( )k k k k kx x K z x = + (2.11) - Hiu chnh hip phng sai:
( )k k kP I K P= (2.12) 2.1.4. Mch lc Unscented Kalman
Nguyn tc c bn ca Unscented Kalman l bin i Unscent. V c bn, y l mt
phng php tnh ton thng k mt bin ngu nhin sau khi bin i khng tuyn
tnh. Cho bin ngu nhin n chiu: xk-1 vi gi tr trung bnh $ 1kx v ma trn hip
phng sai Pk-1
Mch lc Unscented Kalman m t trng thi vi mt tp hp ti thiu cc im
(sigma) mu c chn lc cn thn. 2n+1 im sigma c chn xung quanh c
lng trc , vi n l kch thc ca khng gian trng thi. Sau mt trng s
xc sut c gn cho nhng im sigma. Tip theo, cc im sigma ny bin i
bng cch s dng bin i Unscent a ra mt c lng mi cho bin trng thi.
Bin trng thi sau c hiu chnh bng cch bin i cc im sigma thng qua
cc m hnh o lng tnh ton li Kalman. Cui cng, c lng c hiu
chnh s dng li Kalman
2.2. Lc Kalman trong bi ton bm mc tiu theo phng php
phn on.
2.2.1. Tho lun bi ton.
2.2.2 M hnh bi ton. u vo l mt chui cc khung hnh, gi nh rng khng c s thay i v
cng nh sng v khng c hin tng che khut. Ta c th vit nh sau:
yk(x) = yk-1(x dk(x)) ( 2.35) M hnh quan st cho khung hnh th k tr thnh.
gk(x) = yk(x) + nk(x) ( 2.36)
13 Cn phi c lng phn phi xc xut c iu kin kt hp ca trng vecter
chuyn ng dk, trng phn on cng sk, v trng phn on i tng (hay
video) zk. Dng lut Bayes ta c:
( ) ( )( )1 11 1 1 1, , , ,
, , , ,, ,
k k k k kk k k k k k
k k k
p d s g g gp d s z g g g
p g g g +
+ +
= (2.37)
M hnh mng Bayes th hin s tng tc gia 1 1, , , , ,k k k k k kd s z g g g +
gk
sk
dk zk
gk-1, gk+1
Hnh 2.1 M hnh mng Bayes cho bi ton phn on video
2.3 Bm mc tiu theo quy trnh ng thi. Trong phn ny cp h thng gim st mc tiu 3D nh hnh 2.2 H thng gim
st mc tiu, mc tiu theo di l ngi di chuyn trc ng knh camera, thu nh,
lu thnh file .avi v a vo h thng nhn dng v theo vt s dng tng mch lc
Kalman bm theo i tng cn theo di.
Hnh 2.2. H thng bm mc tiu
M t h thng:
S h thng gim st mc tiu hnh 2.2. H thng gm tn hiu vo v b phn
pht hin, bm mc tiu v a ra kt qu hin th.
14
Hnh 2.3. S nhn dng nh
B lc Kalman c coi nh b c lng trng thi h thng, c cu trc lc n
gin v hi t tt cng vi kh nng lc nhiu cao [9]. M hnh cn c c
lng d bo c m t bi h phng trnh trng thi :
xk = Fxk-1 + vk
zk = Hxk + ek Vector trng thi xk=[x, y, vx , vy], vector o lng zk = [x, y]T, ng vi ta v vn
tc ca nh i tng trn mt phng nh thi im k. vk, ek l vector nhiu trong
qu trnh chuyn ng v sai s php o.
2.4. Kt lun chng Trong chng ny lun vn nu tng v cc bin th ca b lc Kalman ng dng
thut ton mch lc Kalman trong bi ton bm mc tiu theo phng php phn
on, bm mc tiu theo quy trnh ng thi. a ra gii php ng dng thut ton
lc Kalman theo vt i tng, t file video thc hin tng b lc Kalman bm
theo ngi di chuyn.
15
CHNG 3: V D MINH HO 3.1. Bi ton bm mc tiu
3.1.1 t vn . Mt h thng bm mc tiu bng hnh nh l mt tp hp cc bi ton nh.
u vo ca h thng s l hnh nh thu c ti cc im quan st.
u ra ca h thng s l thng tin v chuyn ng ca cc i tng c
gim st
M hnh khi qut chung cho h thng bm mc tiu.
Hnh 3.1 H thng bm mc tiu tng qut
3.1.2 Bi ton pht hin i tng chuyn ng u vo ca bi ton pht hin i tng chuyn ng l cc khung hnh video
thu c t cc im quan st, theo di. Nh vy c th gii quyt bi ton ny ta
cn nghin cu mt s c im ca video.
3.1.2.1 Cc khi nim c bn v video.
3.1.2.2 Mt s thuc tnh c trng ca video
3.1.3 Bi ton phn loi i tng
3.1.3.1 Phn loi da trn hnh dng.
3.1.3.2 Phn loi da trn chuyn ng.
3.1.4 Bi ton theo vt i tng
3.1.4.1 t vn
u vo ca bi ton theo vt i tng l cc vt i tng, cc c trng ca
i tng c pht hin thng qua khi x l pht hin i tng, phn loi i
tng. Nh vy nhim v ca vn theo vt i tng l chnh xc ha s tng
16ng ca cc vt i tng trong cc khung hnh lin tip t d on hng chuyn
ng ca i tng.
3.1.4.2 Cc vn gii quyt
- Theo vt mc tiu da trn m hnh
- Theo vt mc tiu da trn min.
- Theo vt mc tiu da tn ng vin
- Theo vt mc tiu da vo c trng
* Chnh xc ho i tng tng ng (Object matching):
* D on chuyn ng
Nu gii quyt bi ton bm theo mc tiu t hiu qu v tin cy cao, c th ng
dng trong rt nhiu lnh vc.
3.2 Chng trnh m phng bm mc tiu
3.2.1 Qa trnh thu nhn v nhn dng nh M hnh h thng Camera gim st mc tiu:
Qu trnh ghi hnh c thc hin bng Webcam ca my Laptop thng qua chc nng h tr Image Acquistion ca phn mm matlab v lu li vi dng .avi hoc
.mat. Sau s dng file ny input cho module nhn dng nh v bm theo vt mc
tiu c thc hin bng b lc Kalman
Chng trnh m phng qu trnh nhn dng v bm mc tiu thc hin theo lu
hnh 3.6.
17
3.2.2. Bm mc tiu s dng thut ton Kalman Sau khi mc tiu c nhn dng, pht hin chuyn ng t rt trch c trng s
c thut ton Kalman bm theo vt i tng thc hin theo lu hnh 3.7.
18
Rt trch c trng
Kt thc
Hin th
N
Y
Hnh 3.7 Lu thut ton lc Kalman
D on
Tnh li Kalman
Hiu chnh
3.2.2.1 Thut ton mch lc Kalman tuyn tnh
Bc d on:
$ $ 1k kx F x
= , (3.1) 1 Tk kP FP F Q = + .
li Kalman: 1T T
k k kK P H ( HP H R ) = + . (3.2)
Bc hiu chnh:
$ $ $k k kk kx x K ( z H x ) = + , (3.3)
k k kP ( I K H )P= . 3.2.2.2 Thut ton mch lc Kalman m rng
19 Bc d on:
$ $ 1k kx x
= , (3.4) 1k kP P Q = + .
li Kalman: 1
k k kK P ( P R ) = + . (3.5)
Bc hiu chnh:
$ $ $k k kk kx x K ( z x ) = + , (3.6)
k k kP ( I K )P= . 3.2.2.3 Thut ton mch lc Unscented Kalman
Bc d on:
$ 20
L ( m )k i k ii
x W ( X )
== , (3.7) $ $2
0
TL ( c )
k kk i k i k iiP W ( X ) x ( X ) x
=
= . (3.8) Bin i Unscented:
k i k i( Z ) h(( X ) )= , i = 0,...,2L (3.9) 2
0k k
TL ( c )
k ki k i k iz z iP W ( Z ) z ( Z ) z R
=
= + $ $ $ $ , (3.10) $
$20kk
TL ( c )
kki k i k ix z iP W ( X ) x ( X ) z
=
= $ $ , (3.11) li Kalman:
$1
k k kkk x z z zK P P= $ $ $ . (3.12)
Bc hiu chnh:
$ $ kk k k kx x K ( z z ) = + $ , (3.13)
k k
Tk k k kz z
P P K P K= $ $ . (3.14)
3.3 Kt qu thc nghim M phng mch lc Kalman bm mc tiu. Cc khung nh c ly ngu
nhin l frame 72, 81, 93, 125 ca mt on video .avi khc nhau.
20
Frame 72
Frame 81
Frame 93
Frame 125
Hnh 3.8: Kt qu bm mc tiu
21Gi tr o lng thc t ti v tr i tng c biu din bi mt hnh ch
nht mu en trong khi mu xanh th hin cho d on v tr ca mc tiu. Ngoi ra
kch thc ng bao c th hin qua nh xm nn en, bng nh m mu xanh
bm theo ng bao.
T hnh 3.5 cho thy mch lc Kalman c th d on v nh hng chnh
xc cao. hnh ch nht mu xanh (d on) ph hp tng i chng kht vi hnh
mu en (o lng). Mch lc Kalman c p ng nhanh. iu ny c ngha l khi
i tng di chuyn th cho php o thay i t ngt.
Kt qu m phng ca phng php bm mc tiu s dng mch lc Kalman,
gi tr sai s c lng RMSE c tnh theo cng thc.
( )RMSE MSE GT ES= (3.15) 2
1
( )n
t
GT EMSEn== (3.16)
3.4 Kt lun chng
Bi ton nghin cu mt s k thut pht hin v bm mc tiu, ng thi
tin hnh x l cho ra kt qu l i tng ang cn theo vt ang v tr no
nh du. Sau khi xc nh v tr i tng, s tip tc iu khin thit b ti v tr
mong mun (v tr ca i tng ang theo vt), ng thi quyt nh ra s kin
22
KT LUN V HNG PHT TRIN 1. Kt lun.
* V mt l thuyt.
Lun vn nu ln tng quan v bm mc tiu, cc khi nim lin quan n
x l hnh nh trong bm mc tiu, phn tch cc loi nhiu trng thi v m hnh nh
hng n qu trnh theo di mc tiu di chuyn. Cc phng php bm mc tiu
nh So khp mu, dng quang, Meanshift, Camshift, tr nh nn, lc Particle, c
lng Kalman. Mi phng php c nhng im mnh v hn ch khc nhau. Tuy
nhin mch lc Kalman vn l la chn ti u cho qu trnh bm mc tiu xut pht
t cc u nhc im ca n.
* V mt thc tin.
Lun vn a ra hng tip cn ng dng mch lc Kalman trong bi ton
bm mc tiu c th nh s dng phng php nhn dng hnh nh ca phng php
tr nh nn, trch chn c trng, s dng thut ton mch lc Kalman bm mc
tiu chuyn ng. a ra kt qu m phng, nh gi kt qu sai s c lng v o
c.
2. Hng pht trin Trong qu trnh thc hin ti, do nhng hn ch v trnh v thi gian
thc hin ti, chng trnh c xy dng ch l cc thut ton pht hin chuyn
ng v theo vt mc tiu da vo video. trin khai trong thc t n i hi cn
phi ci tin hn na. Hy vng trong tng lai, nhng pht trin di y s gip
ti hon thin hn.
- Kt hp vic pht hin khun mt vi vic pht hin mt, pht hin hnh dng
ca con ngi.
- Xy dng c thut ton ci thin cht lng ca video nh loi tr nhiu,
loi tr bong v ti u ha cc thut ton tng tc ca chng trnh.
- Nghin cu mch lc Unscented Kalman phi tuyn cn chnh h thng v
tinh.