基于随机Hough变换的三维集中式航迹起始算法

摘要

本文提出了一种用于三维空间直线航迹起始的集中式Hough变换法.基于三维直线的Roberts表示法,设计了Rolerts参数相似性判决的假设检验方法.通过对多传感器点迹的随机采样,计算每次采样确定的直线Roberts 参数,然后以相似性测度实现Roberts参数的合并,当参数累积超过规定的门限后能可靠地起始一条直线航迹.为了减少无意义的随机采样和不合理的Roberts参数合并,在算法实时过程中适时地检查目标运动速度限制,加快了采样速度,减少了航迹误起始的概率.通过仿真,该算法能适应多传感器多目标环境中传感器数据更新率不同和密集杂波、强干扰的复杂情况.%A centralized hough track initialization algorithm is introduced for line in 3 dimensions space.Based on Roberts representation of 3D line,the hypothesis statistics is designed for Roberts parameters similarity.Through random sampling data from multiple sensors,the candidate Roberts parameter for 3D line is created corresponding to the data samples.Similar Roberts parameters are merged to accumulate to proper detection threshold for valid and credible line track.To reduce unreasonable random sampling and improper Roberts parameter merging,the object moving speed constrains are check when algorithm is realized,which will not only speeds up algorithm,but also decreases track false alarm ratio.Through performance analysis from simulation,our 3D centralized hough algorithm can be adapted to multi-sensor,multi-object environment,where different data updating rates,dense clutter and strong jamming will be encountered.