一种机动目标的跟踪算法研究

目前在机动目标跟踪领域中讨论比较多的算法包括扩展卡尔曼滤波算法、强跟踪算法、UKF算法和粒子滤波算法；扩展卡尔曼滤波算法对非线性方程进行一阶线性阶处理，这种近似所带来的误差会随着非线性化程度的严重而越来越显著，最终造成滤波器的发散；而粒子滤波作为一种基于蒙特卡洛方法的贝叶斯滤波算法，虽然不需要对非线性方程进行一阶近似，但是其计算负担过于繁重，很难满足实时性的要求，提出了一种基于粒子滤波（PF）的径向基（RBF）神经网络（PF—RBF—Neural—Networks）机动目标跟踪算法，该算法能够获得和粒子滤波几乎相同的跟踪精度，同时又克服了粒子滤波计算量大的缺陷，仿真结果验证了该算法的有效性和可行性。     

基于改进布谷鸟粒子滤波算法的WSN目标跟踪

为了解决粒子滤波(PF)的无线传感器目标跟踪中样本贫化导致的精度较低的问题,提出了改进布谷鸟粒子滤波的WSN目标跟踪方法。通过改进布谷鸟算法的滤波算法取代粒子滤波重采样过程,主要通过改进布谷鸟算法中的搜索步长值 和发现外来鸟卵的物种的概率 的自适应调节,同时在步长更新方程中实时引入函数值的变化趋势,引导粒子整体上向较高的随机区域移动, 有效调整全局探索和局部探索适应能力、改善粒子贫化和局部极值问题,增加粒子群多样化从而提高跟踪性能。实验结果表明,改进布谷鸟粒子滤波算法重采样方法可以防止粒子的退化,增加粒子的多样性,减少跟踪误差,可以减少算法的运行时间,实时追踪性能大幅提高。与CS-PF算法和PF算法相比较,ICS-PF 算法的计算时间是最短的,ICS-PF算法的位置和速度的平均平方根误差最小(位置0.0306、0.0213、速度0.0253、0.0102),PF算法的跟踪精度是最低的,而ICS-PF跟踪精度较高,ICS-PF算法被证明具有良好的跟踪性能。     

基于自适应蝙蝠粒子滤波算法的WSN目标跟踪

为了解决粒子滤波(PF)的无线传感器目标跟踪中样本贫化导致的精度较低的问题,提出了自适应蝙蝠粒子滤波的WSN目标跟踪方法。通过自适应的蝙蝠算法的滤波算法优化粒子重采样过程,结合最新的观测值定义粒子的适应度函数,引导粒子整体上向较高的随机区域移动。同时利用动态自适应惯性权重探索新的粒子位置更新为设计机制,引入动态适应惯性权重值, 有效调整全局探索和局部探索适应能力、改善粒子贫化和局部极值问题,增加粒子群多样化从而提高跟踪性能。实验结果表明,自适应蝙蝠粒子滤波算法重采样方法可以防止粒子的退化,增加粒子的多样性,减少跟踪误差,可以减少算法的运行时间,实时追踪性能大幅提高。与BA-PF算法和PF算法相比较,IBAPF 算法的计算时间是最短的,IBA-PF算法的位置和速度的平均平方根误差最小(位置0.0311、0.0202、速度0.0262、0.0101),PF算法的跟踪精度是最低的,而IBA-PF跟踪精度较高,IBA-PF算法被证明具有良好的跟踪性能。     

Intelligent video target tracking using an evolutionary particle filter based upon improved cuckoo search

The aim of this paper is to propose an evolutionary particle filter based upon improved cuckoo search algorithm which will overcome the sample impoverishment problem of generic particle filter. In our proposed method, improved cuckoo search (ICS) algorithm is embedded into particle filter (PF) framework. Improved cuckoo search algorithm uses levy flight for generating new particles in the solution and introduced randomness in samples by abandoning a fraction of these particles. The second important contribution in this article is introduction of new way for tackling scaling and rotational error in object tracking. Performance of proposed improved cuckoo particle filter is investigated and evaluated on synthetic and standard video sequences and compared with the generic particle filter and particle swarm optimization based particle filter. We show that object tracking using improved cuckoo particle filter provides more reliable and efficient tracking results than generic particle filter and PSO-particle filter. The proposed technique works for real time video objects tracking.     

基于快速MH变异的遗传粒子滤波的WSN目标跟踪

基于快速MH(Metropolis-Hastings)变异的遗传粒子滤波跟踪算法,提出在遗传粒子滤波算法上,加入遗传进化思想,利用快速移动粒子交叉次数和变异算子,同时与赌轮选择一起产生了一种新的遗传算法,更快地提取到反映目标概率特征的典型粒子;实验证明,基于快速MH变异的遗传重采样方法可以避免粒子退化,快速提高粒子的多样性,减小跟踪误差,减少算法的运行时间,实时跟踪性能得到了大大提高;全面比较后,MHGAPF算法计算时间最短.跟踪精度用均方根误差表示,与GAPF算法和PF算法相比较,MHGAPF算法位置和算法速度的中均方根误差最低(位置为0.031 3,0.027 0,速度0.020 21,0.010 2),其中PF算法的跟踪精度最低,MHGAPF跟踪精度最高,进一步表明MHGAPF算法具有良好的跟踪性能.     

基于方差缩减技术的一种自适应粒子滤波器设计

退化现象是粒子滤波(PF)在非线性状态估计应用中存在的主要问题, 重采样过程一定程度上解决了粒子退化现象, 但同时带来了退化现象所导致的样本贫化问题. 本文将方差缩减技术用于PF之中, 通过给所有粒子权重赋予一个指数衰减因子来解决粒子退化现象, 该衰减因子可以根据有效粒子数进行自适应、迭代的选取, 随后通过一个定理来证明了该方法的有效性, 并基于此提出了一种自适应粒子滤波(APF)算法, 给出了算法的具体步骤, 同时对参数选取的原则和算法的局限性进行了详细的讨论. 最后, 通过一个数值例子说明了本文所提出的APF算法在计算负荷不大的条件下较采样-重要性-重采样粒子滤波(PF-SIR)、遗传粒子滤波(GPF)、粒子群优化粒子滤波(PSOPF)具有更高的估计精度.     

基于PSO信息传递模式的混合算法

粒子群优化算法（Particle Swarm Optimization，PSO）是一种基于群智能（Swarm Intelligence）的随机优化计算技术。PSO和遗传算法这两种算法相比较，PSO收敛快速准确，但编码形式单一，局限于解决实优化问题，而遗传算法编码形式灵活，解决问题广泛，但执行效率低于PS00。将粒子群算法的信息传递模式与遗传算法的编码和遗传操作相结合，提出一种混合算法。并推导了两个算法之间的密切联系。并通过组合优化和函数优化的基准测试集对算法进行测试，试验结果表明，该算法在收敛精度和速度优于传统遗传算法。同时，也观察到该算法取得了与粒子群算法一致的收敛现象。     

Efficient multi-feature PSO for fast gray level object-tracking

Robust and real-time moving object tracking is a tricky job in computer vision systems. The development of an efficient yet robust object tracker faces several obstacles, namely: dynamic appearance of deformable or articulated targets, dynamic backgrounds, variation in image intensity, and camera (ego) motion. In this paper, a novel tracking algorithm based on particle swarm optimization (PSO) method is proposed. PSO is a population-based stochastic optimization algorithm modeled after the simulation of the social behavior of bird flocks and animal hordes. In this algorithm, a multi-feature model is proposed for object detection to enhance the tracking accuracy and efficiency. The object's model is based on the gray level intensity. This model combines the effects of different object cases including zooming, scaling, rotating, etc. into a single cost function. The proposed algorithm is independent of object type and shape and can be used for many object tracking applications. Over 30 video sequences and having over 20,000 frames are used to test the developed PSO-based object tracking algorithm and compare it to classical object tracking algorithms as well as previously published PSO-based tracking algorithms. Our results demonstrate the efficiency and robustness of our developed algorithm relative to all other tested algorithms.     

Harmony filter: A robust visual tracking system using the improved harmony search algorithm

In this article a novel approach to visual tracking called the harmony filter is presented. It is based on the Harmony Search algorithm, a derivative free meta-heuristic optimisation algorithm inspired by the way musicians improvise new harmonies. The harmony filter models the target as a colour histogram and searches for the best estimated target location using the Bhattacharyya coefficient as a fitness metric. Experimental results show that the harmony filter can robustly track an arbitrary target in challenging conditions. We compare the speed and accuracy of the harmony filter with other popular tracking algorithms including the particle filter and the unscented Kalman filter. Experimental results show the harmony filter to be faster and more accurate than both the particle filter and the unscented Kalman filter.     

一种辨识Wiener-Hammerstein模型的新方法

针对非线性Wiener-Hammerstein模型,提出利用粒子群优化算法对非线性模型进行辨识的新方法.该方法的基本思想是将非线性系统的辨识问题转化为参数空间上的优化问题;然后采用粒子群优化算法获得该优化问题的解.为了进一步增强粒子群优化算法的辨识性能,提出利用一种混合粒子群优化算法.最后,仿真结果验证了该方法的有效性和可行性.     

Parameter optimisation of support vector machine using mutant particle swarm optimisation for diagnosis of metal-oxide surge arrester conditions

This paper proposes an enhanced support vector machine (SVM), whose parameters are optimised by a novel mutant particle swarm optimisation (mutant PSO) algorithm to identify metal-oxide surge arrester conditions. The total leakage current and its resistive component under different arrester conditions are obtained and then are inputted into a multilayer SVM for the purpose of fault identification. Then, a mutant PSO-based technique is investigated to increase the classification accuracy as well as the training speed of the SVM classifier. The proposed technique has been tested on an actual data set obtained from Taipower Company to monitor five arrester operating conditions, including normal (N), pre-fault (A), tracking (T), abnormal (U) and degradation (D). Furthermore, to demonstrate the effectiveness of the proposed mutant PSO, the obtained results are compared to those obtained by using cross-validation method, genetic algorithm and particle swarm optimisation.     

一种多策略混合的粒子群优化算法

针对传统粒子群优化算法在解决一些复杂优化问题时易陷入局部最优且收敛速度较慢的问题,提出一种多策略混合的粒子群优化算法(Hybrid Particle Swarm Optimization with Multiply Strategies,HPSO)。该算法利用反向学习策略产生反向解群,扩大粒子群搜索的范围,增强算法的全局勘探能力;同时,为避免种群陷入局部最优,算法对种群中部分较差的个体实施柯西变异,以产生远离局部极值的个体,而对群体中较好的个体施以差分进化变异,以增强算法的局部开采能力。对这3种策略进行了有机结合以更好地平衡粒子群算法全局勘探和局部开采的能力。将HPSO算法与其他3种知名的粒子群算法在10个标准测试函数上进行了性能比较实验,结果表明HPSO算法在求解精度和收敛速度上具有较显著的优势。     

Particle swarm optimization–Markov Chain Monte Carlo for accurate visual tracking with adaptive template update

A novel tracking method is proposed, which infers a target state and appearance template simultaneously. With this simultaneous inference, the method accurately estimates the target state and robustly updates the target template. The joint inference is performed by using the proposed particle swarm optimization–Markov chain Monte Carlo (PSO–MCMC) sampling method. PSO–MCMC is a combination of the particle swarm optimization (PSO) and Markov chain Monte Carlo sampling (MCMC), in which the PSO evolutionary algorithm and MCMC aim to find the target state and appearance template, respectively. The PSO can handle multi-modality in the target state and is therefore superior to a standard particle filter. Thus, PSO–MCMC achieves better performance in terms of accuracy when compared to the recently proposed particle MCMC. Experimental results demonstrate that the proposed tracker adaptively updates the target template and outperforms state-of-the-art tracking methods on a benchmark dataset.     

Marker-based human pose tracking using adaptive annealed particle swarm optimization with search space partitioning

Pose estimation and tracking of an articulated structure based on data from multiple cameras has seen numerous applications in recent years. In this paper, a marker-based human pose tracking algorithm from multi view video sequences is proposed. The purpose of the proposed algorithm is to present a low cost motion capture system that can be used as an alternative to high cost available commercial human motion capture systems. The problem is defined as the optimization of 45 parameters which define body pose model and is solved using a modified version of particle swarm optimization (PSO) algorithm. The objective of this optimization is to maximize a fitness function which formulates how much the body model matches with 2D marker coordinates in video frames. A sampling covariance matrix is used in the first part of the velocity equation of PSO and is annealed with iterations. The sampling covariance matrix is computed adaptively, based on variance of parameters in the swarm. One of the concerns in this algorithm is the high number of parameters to define the model of body pose. To tackle this problem, we partition the optimization state space into six stages that exploit the hierarchical structure of the skeletal model. The first stage optimizes the six parameters that define the global orientation and position of the body. Other stages relate to optimization of right and left hand, right and left leg and head orientation. In the proposed partitioning method previously optimized parameters are allowed some variation in each step that is called soft partitioning. Experimental results on Pose Estimation and Action Recognition (PEAR) database indicate that the proposed algorithm achieves lower estimation error in tracking human motion compared with Annealed Particle Filter (APF) and Parametric Annealing (PA) methods.     

增强现实中的混合跟踪算法研究

单一的跟踪方法存在较大的局限性,为提高增强现实中跟踪环节的实时性和准确性,针对视觉跟踪和磁力跟踪的特点进行研究,提出了一种基于自适应粒子滤波的混合跟踪算法,用于对头部运动轨迹估计。该算法通过分析系统状态,自适应地融合多传感器数据,并建立相应的状态转移模型和系统量测模型;另外,该算法能在非线性非高斯的环境下动态地改变滤波器的粒子数和噪声方差,最终实现对头部运动轨迹的实时、正确估计。实验结果表明,该算法能有效地提高基于视觉和磁的混合跟踪的鲁棒性和运动估计的准确性。     

Multi-dimensional visual tracking using scatter search particle filter

Multi-dimensional visual tracking (MVT) problems include visual tracking tasks where the system state is defined by a high number of variables corresponding to multiple model components and/or multiple targets. A MVT problem can be modeled as a dynamic optimization problem. In this context, we propose an algorithm which hybridizes particle filters (PF) and the scatter search (SS) metaheuristic, called scatter search particle filter (SSPF), where the optimization strategies from SS are embedded into the PF framework. Scatter search is a population-based metaheuristic successfully applied to several complex combinatorial optimization problems. The most representative optimization strategies from SS are both solution combination and solution improvement. Combination stage enables the solutions to share information about the problem to produce better solutions. Improvement stage makes also possible to obtain better solutions by exploring the neighborhood of a given solution. In this paper, we have described and evaluated the performance of the scatter search particle filter (SSPF) in MVT problems. Specifically, we have compared the performance of several state-of-the-art PF-based algorithms with SSPF algorithm in different instances of 2D articulated object tracking problem and 2D multiple object tracking. Some of these instances are from the CVBase’06 standard database. Experimental results show an important performance gain and better tracking accuracy in favour of our approach.     

3D human motion tracking based on a progressive particle filter

Human body tracking has received increasing attention in recent years due to its broad applicability. Among these tracking algorithms, the particle filter is considered an effective approach for human motion tracking. However, it suffers from the degeneracy problem and considerable computational burden. This paper presents a novel 3D model-based tracking algorithm called the progressive particle filter to decrease the computational cost in high degrees of freedom by employing hierarchical searching. In the proposed approach, likelihood measure functions involving four different features are presented to enhance the performance of model fitting. Moreover, embedded mean shift trackers are adopted to increase accuracy by moving each particle toward the location with the highest probability of posture through the estimated mean shift vector. Experimental results demonstrate that the progressive particle filter requires lower computational cost and delivers higher accuracy than the standard particle filter.     

基于寿命的粒子群算法研究

针对粒子群算法易陷入局部最优的缺陷,提出了一种具有寿命的PSO(LS-PSO),算法赋予gbest有限的寿命,并且根据其引导能力对寿命进行自适应调整。当gbest耗尽其寿命时,它将失去领导能力,并被一个新产生并经测试具有足够引导能力的粒子所代替,继续引导群体搜索解空间的不同区域,并在两个单峰标准测试函数和六个多峰标准测试函数上对算法进行了测试。结果表明,LS-PSO比传统PSO及改进算法CLPSO有更好的求解精度和收敛速度。     

Efficient Particle Swarm Optimized Particle Filter Based Improved Multiple Model Tracking Algorithm

To meet the requirements of modern radar maneuvering target tracking system and remedy the defects of interacting multiple model based on particle filter, noninteracting multiple model (NIMM) and enhanced particle swarm optimized particle filter (EPSO‐PF) are proposed. The improved maneuvering target tracking algorithm (NIMM‐EPSO‐PF) in this article combines the advantages of NIMM with those of EPSO‐PF. NIMM is used to figure out the index of particles to avoid the high computing complexity resulting from particle interaction, and EPSO‐PF can not only improve the equation of particle update through the rules individuals develop an understanding of group but also enhance particle diversity and accuracy of particle filter through the small variation probability of superior velocity. Besides, the random assignment of inferior velocity is capable of upgrading filter efficiency. As shown by the experimental result, the NIMM‐EPSO‐PF not only improves target tracking accuracy but also maintains high real‐time performance. Therefore, the improved algorithm can be applied to modern radar maneuvering target tracking field efficiently.     

An improved hybrid particle swarm optimization algorithm applied to economic modeling of radio resource allocation

An operational economic model for radio resource allocation in the downlink of a multi-cell WCDMA (acronym for wideband code division multiple access). system is developed in this paper, and a particle swarm optimization (PSO) based approach is proposed for its solution. Firstly, we develop an economic model for resource allocation that considers the utility of the provided service, the acceptance probability of the service by the users and the revenue generated for the network operator. Then, we introduce a constrained hybrid PSO algorithm, called improved hybrid particle swarm optimization (I-HPSO), in order to find feasible solutions to the problem. We compare the performance of the I-HPSO algorithm with those achieved by the original HPSO algorithm and by standard metaheuristic optimization techniques, such as hill climbing, simulated annealing, standard PSO and genetic algorithms. The obtained results indicate that the proposed approach achieves superior performance than the conventional techniques.