XIA Xuan1,2, LIU Huaping2, XU Weiming1, SUN Fuchun2
1. School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China;
2. Tsinghua National Laboratory for Information Science and Technology, State Key Laboratory of Intelligent Technology and Systems, Department of Computer Science and Technology, Tsinghua University, Beijing 100084, China
In order to improve target detection speed and accuracy, simplify particle filter based target tracking algorithm for histogram calculation, and improve the speed of detection and tracking algorithm in the DSP (digital signal processor)- based active vision systems, a DSP-based active vision system is proposed. By improved the EMCV (Embedded Computer Vision Library) and heuristic search methods, the system implements the AdaBoost detection algorithm on the DSP. And in that system, the color histogram and edge orientation histogram in particle filter are calculated by using the incremental histogram calculation algorithm, the histogram is integrated into the observation model, and the target tracking algorithm is optimized on the DSP. The experiment proves the rapidity and the robustness of the proposed algorithm in the active vision system.
[1] Rasolzadeh B, Björkman M, Huebner K, et al. An active vision system for detecting, fixating and manipulating objects in the real world［J］. International Journal of Robotics Research, 2010, 29(2/3): 133-154.
[2] Boev A, Georgiev M, Gotchev A. Optimized visualization of stereo images on an OMAP platform with integrated parallax barrier auto-stereoscopic display[C]//17th European Signal Processing Conference. 2009: 490-494.
[3] Ali S S A, Jamil K T, Muhammad F. Real time object tracking in a video sequence using a fixed point DSP[C]//4th International Symposium on Visual Computing. Berlin, Germany: Springer-Verlag, 2008: 879-888.
[4] Viola P, Jones M. Robust real-time object detection[C]//2nd International Workshop on Statistical and Computational Theories of Vision -Modeling, Learning, Computing, and Sampling. 2002.
[5] Yang M, Crenshaw J, Augustine B. AdaBoost-based face detection for embedded systems［J］. Computer Vision and Image Understanding, 2010, 144(11): 1116-1125.
[6] Perez P, Hue C, Vermaak J, et al. Color-based probabilistic tracking[C]//7th European Conference on Computer Vision: Part I. London, UK: Springer-Verlag, 2002: 661-675.
[7] 王绍钰,蔡自兴,陈爱斌.改进的粒子滤波器目标跟踪方法［J］.智能系统学报,2008,3(3): 189-194. Wang S Y, Cai Z X, Chen A B. Improved object tracking method for particle filters［J］. CAAI Transactions on Intelligent Systems, 2008, 3(3): 189-194.
[8] Porikli F. Integral histogram: A fast way to extract histograms in Cartesian spaces[C]//IEEE Conference on Computer Vision and Pattern Recognition. Piscataway, NJ, USA: IEEE, 2005: 829-836.
[9] Sizintsev M, Derpanis K G, Hogue A. Histogram-based search: A comparative study[C]//IEEE Conference on Computer Vision and Pattern Recognition. Piscataway, NJ, USA: IEEE, 2008: 1-8.
[10] An S J, Peursum P, Liu W Q, et al. Efficient algorithms for subwindow search in object detection and localization[C]//IEEE Conference on Computer Vision and Pattern Recognition. Piscataway, NJ, USA: IEEE, 2009: 264-271.
[11] We Y C, Tao L T. Efficient histogram-based sliding window[C]//IEEE Conference on Computer Vision and Pattern Recognition. Piscataway, NJ, USA: IEEE, 2010: 3003-3010.
[12] 王裕基,孙富春,刘华平,等.基于距离传感器的双边遥操作［J］.机器人,2010,32(6): 705-710. Wang Y J, Sun F C, Liu H P. Bilateral teleoperation based on range sensor［J］. Robot, 2010, 32(6): 705-710.
[13] Zhu W Y, Levinson S E. Edge orientation-based multiview object recognition[C]//15th International Conference on Pattern Recognition. Piscataway, NJ, USA: IEEE, 2000: 936-939.
[14] 刘惟锦,章毓晋.基于Kalman滤波和边缘直方图的实时目标跟踪［J］.清华大学学报:自然科学版,2008,48(7): 1104-1107. Liu W J, Zhang Y J. Edge-color-histogram and Kalman filter-based real-time object tracking［J］. Journal of Tsinghua University: Science and Technology, 2008, 48(7): 1104-1107.
[15] Pescador F, Sanz C, Garrido M J, et al. A DSP based H.264 decoder for a multi-format IP set-top box［J］. IEEE Transactions on Consumer Electronics, 2008, 54(1): 145-153.
