Real-time target tracking with particle filter in moving monocular camera

摘要

In this paper, we propose an improved particle filter algorithm for real-time tracking a randomly moving target in dynamic environment with a moving monocular camera. For making the tracking task robustly and effectively, color histogram based target model is integrated into particle filter algorithm. Bhattacharyya distance is used to weight samples by calculating each sample's histogram with a specified target model and it makes the measurement matching and samples' weight updating more reasonable. In order to reduce sample depletion, the improved algorithm will be able to take the latest observation into account. The experimental results confirm that the method is effective even when the monocular camera is moving and the target object is partially occluded in a clutter background.