硕士论文-基于流形的粒子滤研究及其在人脸跟踪中的应用.doc

ABSTRACT摘 要 PAGE II PAGE I工学 硕士学位论文基于流形的粒子滤波研究及其在人脸跟踪中的应用学生姓名指导教师江苏科技大学二OO九年三月 摘 要本文系统介绍了适用于解决非线性非高斯系统问题的粒子滤波的基本原理和关键技术，针对标准粒子滤波（PF）中存在的粒子退化及算法实时性问题，把流形、权值选择和线性优化重采样等思想引入到PF中进行算法改进，提出了基于施蒂费尔流形和权值选择的粒子滤波（SM-WS-PF）、基于施蒂费尔流形和线性优化重采样的粒子滤波（SM-LOCR-PF），并将改进算法应用到非线性、非高斯系统状态估计中，与UPF进行了性能仿真对比分析，仿真结果表明改进算法不仅能增加粒子多样性，有效防止粒子退化现象，改善滤波精度，而且能提高算法的实时性和鲁棒性。同时本文还总结了粒子滤波主要收敛性结果及其分析证明，考虑到硬件资源的承载能力，本文还设计了一种结合似然分布自调整和样本自适应调整两种方法的改进自适应粒子滤波，最后采用捷联惯导误差模型对设计的自适应算法进行仿真分析。人脸跟踪是属于计算机视觉研究领域的一个重要分支，它作为人脸信息处理中的一项关键技术，在基于内容的图像与视频检索、视频监控与跟踪、视频会议以及智能人机交互等方面都有着重要的应用价值。实际研究表明将粒子滤波引入人脸跟踪领域能很好的保证跟踪精度和鲁棒性，但是却丧失了实时性；而且当目标所在环境中存在多个人脸时，通常的粒子滤波算法会导致发散，所以本文又加入了Isomap学习方法。实验分析表明，本文提出的SM-PF和Isomap-SM-PF算法，尤其是后者，能大大提高算法实时性，在人脸姿态变化、旋转、遮挡、背景等发生变化时也能很好的进行跟踪，表现出一定的优越性。关键字 粒子滤波；收敛性证明；流形；自适应；人脸跟踪AbstractThis paper systematically introduced the basic principles and the key technologies of the particle filter which is properly used to solve the problems of the non-linear and non-Gaussian systems. To solve the problem of particle degeneracy and overload calculation in particle filter (PF), we applied manifold learning, weight selected and linear optimizing resampling method to PF, which replaced the traditional resampling method, and proposed the improved particle filter based on Stiefel Manifold , which combines weight selected method and linear optimizing resampling method respectively together, called SM-WS-PF and SM-LOCR-PF.We adopted improved PF to non-linear and non-Gaussian system state estimation, and analyzed the tracking performance of SM-WS-PF, SM-LOCR-PF and UPF. Simulation results show that improved algorithms can effectively solve the problem of particle degeneracy, increase particle diversity, and improve filter accuracy and real-time performance of the algorithm. In addition, We analysis and prove the main convergence results of particle filter. Considering the capacity of hardware resources, we also design a new adaptive particle filter in view of the algorithmic limitations caused by configuration