卡尔曼滤波毕业设计论文.docxVIP

沈阳理工大学学士学位论文 PAGE \* MERGEFORMATIV 摘 要 卡尔曼滤波（Kalman Filtering）是一种利用线性系统状态方程，通过系统输入输出进行数据观测，对系统状态进行估计的滤波算法。它以最小均方误差为最佳估计准则，采用信号与噪声的状态空间模型，利用前一时刻的最佳估计值得到当前的预测值，再和当前时刻的观测值共同作用来更新对状态变量的估计，求出当前时刻的最佳估计值。卡尔曼滤波经过50多年的发展，已经形成了一个比较完整的理论体系，并且成功应用于航空航天、工业控制等领域，还被美国空军定为标准滤波器。 随着信息技术和计算机视觉技术的迅速发展，数字视频在生产生活中的应用越来越广泛，并且利用图像处理技术对视频中的运动目标进行实时检测和跟踪的研究也越来越多，动态目标检测与跟踪技术成为计算机视觉研究领域中的重要研究内容之一。本文基于矩阵实验室(MATLAB)，对动态目标视觉的检测与跟踪技术展开了研究，取得了较好的仿真结果。实验结果表明卡尔曼滤波算法可以有效的对运动目标进行检测和跟踪。 关键词：运动目标检测；运动目标跟踪；卡尔曼滤波；MATLAB Abstract Kalman Filter is a linear filtering algorithm that use the state equation and the data input and output of system to estimate the real-time system state. It with minimum mean square error as the best estimate criterion, using the state space model of the signal and noise, use of best estimate of last time is worth to the prediction of the current value, then the forecast value and the observation value of the current time can update the estimation of the state quantity, and the best estimated value of the current time is obtained. After 50 years of development, Kalman Filter has formed a relatively complete theoretical system, and successfully applied in aerospace, industrial control and other fields, has become the standard filter of United States Air Force . With the rapid development of information technology and computer vision technology, digital video is used more and more widely in the production and ritual life, and the researches about the real-time detection and tracking of moving objects in the video using image processing technology are more and more now, the moving target detection and tracking technology become one of the important research contents in the field of computer vision. In this paper, the detection and tracking technology of the dynamic target vision is studied based on the MATLAB, and the good results are obtained. The experimental results show that Kalman filtering algorithm can detect and track the moving target effectively. Keywords: Moving target d