Matlab卡尔曼滤波运动目标(人体)识别追踪毕业论文+源码(推荐).zip资源matlab opencv运动目标检测程序资料

%获取背景 %Imback=0; %for i=1:35 % Im0 = double(imread([int2str(i), '.jpg'],'jpg')); % Imback = Imback+Im0 ; %end %Imback=medfilt2(rgb2gray(Imback/35)); Im0 = (imread('1.jpg')); Im1 = (imread('2.jpg')); Im2 = (imread('3.jpg')); Im3 = (imread('4.jpg')); Im4 = (imread('5.jpg')); Im = (1/5)*Im0+(1/5)*Im1+(1/5)*Im2+(1/5)*Im3+(1/5)*Im4; I_gray = rgb2gray(Im); %Imback = double(I_gray); %Imback0 = rgb2gray(imread('1.jpg')); Imback=medfilt2(I_gray); [MR,MC,Dim] = size(Imback); %卡尔曼滤波初始化 R=[[1,0]',[0,1]']; H=[[1,0]',[0,1]']; Q=0.01*eye(2); P = 100*eye(2); dt=1; A=[[1,0]',[0,1]']; kfinit=0; x1=zeros(300,2); x2=zeros(300,2); % loop over all images fig1=1; fig2=2; fig15=15; fig3=3; fig4=4; fig5=5; for i = 1 : 150 Im0 = rgb2gray(imread([int2str(i), '.jpg'],'jpg')); Im= medfilt2(Im0); if fig1 > 0 figure(fig1)%creat figure with handle fig1 clf%clear current figure imshow(Im) end Imwork = Im; %extract ball [cc1(i),cr1(i),cc2(i),cr2(i),flag]=extract(Imwork,Imback,fig1,fig2,fig3,fig15,i); if flag==0 continue end if fig1 > 0 figure(fig1) hold on plot(cc1(i),cr1(i),'g+') plot(cc2(i),cr2(i),'go') %eval(['saveas(gcf,''TRACK/trk',int2str(i-1),'.jpg'',''jpg'')']); end % % Kalman update % if kfinit==0 % xp = [MC/2,MR/2,0,0]' % else % xp=A*x1(i-1,:)' % end % kfinit=1; % PP = A*P*A' + Q % K = PP*H'*inv(H*PP*H'+R) % x1(i,:) = (xp + K*([cc1(i),cr1(i)]' - H*xp))'; % % P = (eye(4)-K*H)*PP % if fig1 > 0 % figure(fig1) % hold on % plot(x1(i,1),x1(i,2),'r+') % end % % % Kalman update % if kfinit==0 % xp = [MC/2,MR/2,0,0]' % else % xp=A*x2(i-1,:)' % end % kfinit=1; % PP = A*P*A' + Q % K = PP*H'*inv(H*PP*H'+R) % x2(i,:) = (xp + K*([cc2(i),cr2(i)]' - H*xp))'; % % P = (eye(4)-K*H)*PP % if fig1 > 0 % figure(fig1) % hold on % plot(x2(i,1),x2(i,2),'ro') % end % Kalman update if kfinit==0 xp = [MC/2,MR/2]' else xp=A*x1(i-1,:)' end kfinit=1; PP = A*P*A' + Q K = PP*H'*inv(H*PP*H'+R) x1(i,:) = (xp + K*([cc1(i),cr1(i)]' - H*xp))'; P = (eye(2)-K*H)*PP if fig1 > 0 figure(fig1) hold on plot(x1(i,1),x1(i,2),'r+') end % Kalman update if kfinit==0 xp = [MC/2,MR/2]' else xp=A*x2(i-1,:)' end kfinit=1; PP = A*P*A' + Q K = PP*H'*inv(H*PP*H'+R) x2(i,:) = (xp + K*([cc2(i),cr2(i)]' - H*xp))'; P = (eye(2)-K*H)*PP if fig1 > 0 figure(fig1) hold on plot(x2(i,1),x2(i,2),'ro') end end % show positions if fig4 > 0 figure(fig4) hold on clf plot(cc1,'g*'); hold on plot(x1(:,1),'r+'); figure(fig5) plot(cc2,'g*'); hold on plot(x2(:,1),'r+'); end