HC VIN CNG NGH BU CHNH VIN THNG

------------------------------------

LU VN QUYN

S DNG B LC KALMAN
TRONG BI TON BM MC TIU
CHUYN NGNH: K THUT VIN THNG
Ms: 60.52.02.08

TM TT LUN VN THC S

H NI - NM 2013

Lun vn c hon thnh ti:

HC VIN CNG NGH BU CHNH VIN THNG

Ngi hng dn khoa hc: GS.TSKH. NGUYN NGC SAN

Phn bin 1:.

Phn bin 2:.

Lun vn s c bo v trc hi ng chm lun vn thc s ti

Hc vin Cng ngh Bu chnh Vin thng
Vo lc:.gi..ngy.thng.nm..

C th tm hiu lun vn ti:

- Th vin ca Hc vin Cng ngh Bu chnh Vin thng

M U
Vi s pht trin ca khoa hc k thut. Nhu cu s dng h thng nh v v
dn ng tr thnh mt nhu cu khng th thiu trong cuc sng ngy nay. T
ngun gc vic theo di bm st mc tiu hin i ngy nay l s kt hp ca cc
khoa hc k thut nhn dng mc tiu v phng php theo di i tng, bao gm
v tr, kch thc, hnh dng vn tc ca i tng. Bm mc tiu s dng cho nhiu
mc ch khc nhau nh v tinh gim st khng gian c s dng theo di cc
chuyn ng ca mc tiu nht nh.
Thi gian gn y vic ng dng b lc Kalman c lng qu o ca i
tng qua cc khung hnh c s dng nhiu trong cc thit b in t dn dng nh
Camera gim st, iu hng Robot, d tm mn, thit b kim tra hnh l. Cho n
nay c nhiu cng trnh nghin cu v lnh vc bm bt mc tiu trn c s x l
nh v cc thut ton bm theo i tng chuyn ng nh: So khp mu, Meanshift, Camshift, Particle, Kalman Mi phng php c cc u im v nhc im
khc nhau v cho hiu qu nht nh vi tng loi i tng v mc tiu theo di
khc nhau.
Ni dung ca lun vn c cu trc thnh cc phn nh sau:
Chng I. Tng qut v l thuyt bm mc tiu
Chng II. S dng b lc Kalman trong bi ton bm mc tiu
Chng III. V d minh ho

CHNG I: TNG QUT V L THUYT

BM MC TIU
1.1. Nhng khi nim c bn.
1.1.1 nh ngha v bi ton bm mc tiu
Cho mt i tng (S) c u ra l y(t) trc tc ng ca u vo u(t)

Hnh 1.1. S ca i tng iu khin vi u vo v u ra

Bi ton bm mc tiu cn phi tm tn hiu iu khin u vo sao cho tn

hiu u ra y (t ) bm theo mc tiu.

1.1.2 nh ngha v sai s

Hu nh cc phng php nh gi, c lng tham s m hnh c xy
dng trn c s p dng nguyn l v k thut tham chiu, trong xc nh mt
hm sai s phn nh s khc lch gia m hnh v h ng hc thc.

1.1.2.1 Phng php sai s u ra

Hm sai s c nh ngha:
e0 (t ) = y (t ) y (t )

(1.1)

1.1.2.2 Phng php sai s u vo

Trong phng php sai s u vo khng s dng trc tip d liu o lng v
o hm cc bc theo thi gian ca tn hiu u vo h ng hc nn khng cn phi
quan tm n c tnh kch thch lin tc nn bi ton c lng tham s m hnh ni
ring, nhn dng h ng hc ni chung bao gi cng c nghim.

1.1.2.3 Phng php sai s phng trnh.

Sai s phng trnh c nh ngha trc tip t phng trnh ng hc ca
m hnh nh sau:
ec (t ) = H ( s ) y (t ) K ( s )u (t )

(1.2)

1.1.2.4 Phng php sai s d bo

Sai s d bo c nh ngha nh sau:
e pe (t ) =

C ( s )
K ( s)
y (t ) H ( s ) u (t )

D( s)

(1.3)

1.1.3 S dng tiu ch ti u

1.1.3.1 Khi nim
Ch tiu cht lng J ca mt h thng c th c nh gi theo sai lch ca
i lng iu khin, thi gian qu hay theo mt ch tiu hn hp trong iu kin
lm vic nh hn ch v cng sut, tc , gia tc

1.1.3.2 Tiu ch ti u tc ng nhanh (thi gian ti thiu)

i vi bi ton ti u tc ng nhanh th ch tiu cht lng J c dng.
T

J = 1dt = T

(1.6)

1.1.3.3 Tiu ch nng sut ti u.

Nng sut y c xc nh bi cht lng ca h thng bm theo mc tiu
trong thi gian T nht nh. Khi ch tiu cht lng J c dng.
T

J = L[x(t ), ut ), t ]dt = T 0 = tdt

(1.7)

1.1.3.4 Tiu ch nng lng ti u.

Ch tiu cht lng J i vi tiu chi nng lng ti thiu c dng.
T

J = u 2 (t )dt

(1.10)

1.1.4 Xy dng khu phn hi.

Xt mt h thng c m t bi cc phng trnh u ra v trng thi:
x& = Ax + Bu

y = Cx

(1.11)

Chn mt lut iu khin c dng:

u = (r Kx)

(1.12)

4
x&

Hnh 1.3: iu khin s dng phn hi bin trng thi

1.1.5 Xy dng iu khin bm bng phn hi trng thi.

Bi ton t ra l iu khin i tng c m t:
dx
= A x + bu
dt
T
y=c x

(1.17)

0 ... 0 0
0

0 ... 0 M
dx 0
=
z+
u
M
M 0
dt M

a0 a1 an 1 1
y = (c%1 c%2 L c%n ) z

(1.18)

z
a

Hnh 1.4 iu khin bm vi i tng (1.18)

u

i tng
(1.17)
z

Hnh 1.5 iu khin bm vi i tng (1.17)

5
1.1.6 Bi ton tng hp h thng
Bi ton tng hp h thng l ton b qu trnh tnh ton, la chn b sung
thm cc khu ph hp vo h thng. h thng khi hot ng t c nhng
yu cu cht lng ra v sai lch, thi gian p ng qu .

1.2 Phng php bm mc tiu truyn thng.

1.2.1 Tho lun phng php
iu khin truyn thng s dng thng tin, d liu ca tn hiu u ra ca i
tng iu khin lm tn hiu u vo a ra tn hiu iu khin i tng.
H thng ny c biu din bi cc phng trnh sau:
x& (t ) = A(t ) x(t ) + B(t )u (t )

(1.25)

y (t ) = C ' (t ) x(t )

(1.26)

Hnh 1.8 H thng iu khin c in

1.2.2 B iu khin PID: (Proportional-Integral-Derivative)

Tn gi PID l ch vit tt ca ba thnh phn c bn c trong b iu khin
(hnh 1.10a) gm khu khuch i (P), khu tch phn (I), khu vi phn (D).

1
TI s

TD s

Hnh 1.10 iu khin vi b iu khin PID

B iu khin PID c m t c dng tng qut sau.

t

u (t ) = k P [e(t ) +

1
de(t )
e( )d + TD
]

TI 0
dt

(1.28)

T m hnh vo ra tng qut ta c c hm truyn ca b iu khin PID

6
R ( s ) = k P [1 +

1
+ TD s]
TI s

(1.29)

1.2.3 Chn tham s PID ti u theo sai lch bm

Bi ton c nhim v xc nh cc tham s ca b iu khin PI, gm kp, TI
trong cng thc (1.29) hoc kp, TI, TD trong cng thc (1.31) sao cho tn hiu ra y(t)
bm c vo hiu lnh (t) mt cch tt nht theo ngha.
Q = (t ) y (t ) 2 = e(t )

(1.32)

min

V bi ton thit k b iu khin PID ti u tr thnh

(1.34)

p = arg min f ( p)

1.3. Phng php bm mc tiu hin i.

1.3.1. Tho lun phng php.
L thuyt iu khin hin i s dng m t khng gian trng thi trong min
thi gian, mt m hnh ton hc ca mt h thng vt l nh l mt cm u vo, u
ra v cc bin trng thi quan h vi phng trnh trng thi bc mt.
Xut pht t quan im d trin khai l trng hp lut iu khin tuyn
tnh, c cho bi:
u(t) = K(x(t),t)

(1.36)

Hnh 1.12: M hnh phng php iu khin hin i.

1.3.2. B quan st trng thi.

u

+
+

x&

System

L
+

x&

Observer

Hnh 1.14 B quan st trng thi Luenberger bc y

H thng trong hnh 1.14 c nh ngha bi:

x& = Ax + Bu

(1.38)

y = Cx

(1.39)

1.3.3 iu chnh trng thi (LQR) (Linear Quadratic Regulator)

Kho st vn duy tr trng thi ca h thng gi tr l 0, chng tc ng
nhiu, ng thi vi cc tiu tiu hao nng lng
x& = Ax + Bu, x(0) = x 0

(1.43)

y = Cx

1
min J = xT Qx + u T Ru dt ,
20

(1.44)

Chn lut iu khin hi tip trng thi u = - Kx, K l hng s, thay vo biu
thc ca J

J=

1 T
x (Q + K T RK ) xdt

20

1.3.4 Gii thut thit k LQG (Linear Quadratic Gausian)

Gi s phng trnh o lng ng ra c cho bi.

(1.45)

8
x& = Ax + Bu + w

(1.57)

y = Cx + v

Gi s phng trnh hi tip c trng thi y .

u = -Kx + r

(1.58)

Nu K c chn s dng phng trnh Riccati LQR v L c chn bi s

dng phng trnh Riccati ca b lc Kalman. iu ny c gi l thit k LQG.
iu quan trng ca cc kt qu ny l trng thi hi tip ca K v li ca b quan
st L c th c thit k ring r.[4]

1.3.5 M t b c lng trng thi gim bc

Cho mt h ng hc S tuyn tnh bc n m t bi
(S)

x&n = An xn + Bnun

(1.62)

yn = Cn xn

Vi

, bc ca phn ng thi iu khin v quan st c ca S, cc

vector v ma trn c kch thc ph hp.

Hy xc nh b nh gi trng thi (SE) bc e,
(SE) x&e = Ae xe + Beue

(1.63)

ye = Ce xe

1.3.6 Gim bc phn t iu khin

Cc bi ton lin quan n phn t iu khin da vo tn hiu phn hi lm
c s ra chin lc iu khin v cn phi x l trong khu khp kn. T v tr
xut pht ca tn hiu phn hi m trong l thuyt h thng chia ra thnh iu khin
truyn thng v iu khin hin i

1.4. Vai tr ca b lc Kalman

1.4.1 t vn .
Phng trnh trng thi ca i tng
x& = Ax + Bu + w

(1.72)

y = Cx + v

(1.73)

x&

x&

Hnh1.15 B quan st trng thi ca Kalman

Phng trnh trng thi ca khu lc Kalman:

x& = Ax + Bu + L( y y )
y = Cx

(1.74)

Mc tiu ca thit k b lc Kalman l tm li c lng L c s c lng ti

u trong s hin din ca nhiu w(t) v v(t)
Sai s c lng:
x (t ) = x(t ) x (t )

(1.75)

1.4.2 M hnh ton hc.

1.4.3 Qu trnh c lng trng thi.
Qu trnh c lng s dng phng php mch lc Kalman trong gim st bm mc
tiu dc chia thnh hai giai on.

10

x = F x k 1

K k = Pk H T ( HPk H T + R )1

Pk = FPk 1 F T + Q

xk = xk + K k ( zk Hx
k )
Pk = ( 1 K k H )Pk

Thc cht ca gii thut Kalman tuyn tnh l mt phng php c tnh
quy tuyn tnh cho php c lng trng thi ca mt h thng c nhiu sao cho
lch gia gi tr c lng v gi tr thc t l b nht.

1.4.4 Vai tr ca b lc Kalman

Lc Kalman nhm c lng gi tr ch thc ca mt ci g , bng cch d
on gi tr ca n v tnh tin cy (hay bt nh) ca d on , ng thi o
c gi tr (nhng b sai s v c cc nhiu), sau ly mt trung bnh c trng gia
gi tr d on v gi tr o c c, lm gi tr c lng. C th coi n l mt
trng hp ca suy din c iu kin kiu bayes Cc thuc tnh c bn ca b
lc Kalman c bt ngun t cc yu cu ca c lng trng thi.

1.5 Kt lun chng

Trong chng ny lun vn nu ra c cc khi nim c bn v bi ton bm
mc tiu, trn nhng khi nim c bn nu ra c phng php bm mc tiu
truyn thng, phng php bm mc tiu hin i. T tm ra vai tr ca b lc
Kalman trong bi ton bm mc tiu.

11

CHNG II: S DNG B LC KALMAN

TRONG BI TON BM MC TIU
2.1. Cc bin th ca b lc Kalman
2.1.1. Nguyn tc c bn
Trong ng dng gim st, bm mc tiu di ng, mch lc Kalman l qu trnh lp i
lp li bc d on v hiu chnh trng thi ca h thng [13]. Xt mt h thng i
din bi mt khng gian trng thi nh phng trnh (2.1) v (2.2).
xk = Fxk-1 + vk

(2.1)

zk = Hxk + ek

(2.2)

2.1.2. Mch lc Kalman tuyn tnh

Mch lc Kalman tuyn tnh a ra mt c lng ti u cho trng thi k -tip s
dng cng thc tuyn tnh, gi s cc bin c phn b xc sut Gaussian.
- Gi tr trung bnh cho trng thi k tip:
xk = Fxk1

(2.3)

- Hip phng sai ca c lng k tip:

Pk = FPk1 F T + Q

(2.4)

- Tnh ton li mch lc Kalman:

K k = Pk H T ( HPk H T + R) 1

(2.5)

- Gi tr hiu chnh trung bnh:

xk = xk + K k ( zk Hxk )

(2.6)

- Hiu chnh hip phng sai:

Pk = ( I K k H ) Pk

(2.7)

2.1.3. Mch lc Kalman m rng

B lc Kalman m rng thc hin theo cc bc c lng
- Gi tr trung bnh cho trng thi k tip:
xk = xk 1

(2.8)

- Hip phng sai ca c lng k tip:

Pk = Pk1 + Q

(2.9)

12
- Tnh ton li mch lc Kalman:
K k = Pk ( Pk + R) 1

(2.10)

- Gi tr hiu chnh trung bnh:

xk = xk + K k ( zk xk )

(2.11)

- Hiu chnh hip phng sai:

(2.12)

Pk = ( I K k ) Pk

2.1.4. Mch lc Unscented Kalman

Nguyn tc c bn ca Unscented Kalman l bin i Unscent. V c bn, y l mt
phng php tnh ton thng k mt bin ngu nhin sau khi bin i khng tuyn
tnh. Cho bin ngu nhin n chiu: xk-1 vi gi tr trung bnh x$

k 1

v ma trn hip

phng sai Pk-1

Mch lc Unscented Kalman m t trng thi vi mt tp hp ti thiu cc im
(sigma) mu c chn lc cn thn. 2n+1 im sigma c chn xung quanh c
lng trc , vi n l kch thc ca khng gian trng thi. Sau mt trng s
xc sut c gn cho nhng im sigma. Tip theo, cc im sigma ny bin i
bng cch s dng bin i Unscent a ra mt c lng mi cho bin trng thi.
Bin trng thi sau c hiu chnh bng cch bin i cc im sigma thng qua
cc m hnh o lng tnh ton li Kalman. Cui cng, c lng c hiu
chnh s dng li Kalman

2.2. Lc Kalman trong bi ton bm mc tiu theo phng php

phn on.
2.2.1. Tho lun bi ton.
2.2.2 M hnh bi ton.
u vo l mt chui cc khung hnh, gi nh rng khng c s thay i v
cng nh sng v khng c hin tng che khut. Ta c th vit nh sau:
yk(x) = yk-1(x dk(x))

( 2.35)

M hnh quan st cho khung hnh th k tr thnh.

gk(x) = yk(x) + nk(x)

( 2.36)

13
Cn phi c lng phn phi xc xut c iu kin kt hp ca trng vecter
chuyn ng dk, trng phn on cng sk, v trng phn on i tng (hay
video) zk. Dng lut Bayes ta c:
p ( d k , sk , zk g k , g k 1 , g k +1 ) =

p ( d k , sk , g k , g k 1 , g k +1 )
p ( g k , g k 1 , g k +1 )

(2.37)

M hnh mng Bayes th hin s tng tc gia d k , sk , zk , g k , g k 1 , g k +1

dk

zk

gk-1, gk+1

sk

gk
Hnh 2.1 M hnh mng Bayes cho bi ton phn on video

2.3 Bm mc tiu theo quy trnh ng thi.

Trong phn ny cp h thng gim st mc tiu 3D nh hnh 2.2 H thng gim
st mc tiu, mc tiu theo di l ngi di chuyn trc ng knh camera, thu nh,
lu thnh file .avi v a vo h thng nhn dng v theo vt s dng tng mch lc
Kalman bm theo i tng cn theo di.

Hnh 2.2. H thng bm mc tiu

M t h thng:
S h thng gim st mc tiu hnh 2.2. H thng gm tn hiu vo v b phn
pht hin, bm mc tiu v a ra kt qu hin th.

14

Hnh 2.3. S nhn dng nh

B lc Kalman c coi nh b c lng trng thi h thng, c cu trc lc n

gin v hi t tt cng vi kh nng lc nhiu cao [9]. M hnh cn c c
lng d bo c m t bi h phng trnh trng thi :
xk = Fxk-1 + vk
zk = Hxk + ek
Vector trng thi xk=[x, y, vx , vy], vector o lng zk = [x, y]T, ng vi ta v vn
tc ca nh i tng trn mt phng nh thi im k. vk, ek l vector nhiu trong
qu trnh chuyn ng v sai s php o.

2.4. Kt lun chng

Trong chng ny lun vn nu tng v cc bin th ca b lc Kalman ng dng
thut ton mch lc Kalman trong bi ton bm mc tiu theo phng php phn
on, bm mc tiu theo quy trnh ng thi. a ra gii php ng dng thut ton
lc Kalman theo vt i tng, t file video thc hin tng b lc Kalman bm
theo ngi di chuyn.

15

CHNG 3: V D MINH HO
3.1. Bi ton bm mc tiu
3.1.1 t vn .
Mt h thng bm mc tiu bng hnh nh l mt tp hp cc bi ton nh.
u vo ca h thng s l hnh nh thu c ti cc im quan st.
u ra ca h thng s l thng tin v chuyn ng ca cc i tng c
gim st
M hnh khi qut chung cho h thng bm mc tiu.

Hnh 3.1 H thng bm mc tiu tng qut

3.1.2 Bi ton pht hin i tng chuyn ng

u vo ca bi ton pht hin i tng chuyn ng l cc khung hnh video
thu c t cc im quan st, theo di. Nh vy c th gii quyt bi ton ny ta
cn nghin cu mt s c im ca video.

3.1.2.1 Cc khi nim c bn v video.

3.1.2.2 Mt s thuc tnh c trng ca video
3.1.3 Bi ton phn loi i tng
3.1.3.1 Phn loi da trn hnh dng.
3.1.3.2 Phn loi da trn chuyn ng.
3.1.4 Bi ton theo vt i tng
3.1.4.1 t vn
u vo ca bi ton theo vt i tng l cc vt i tng, cc c trng ca
i tng c pht hin thng qua khi x l pht hin i tng, phn loi i
tng. Nh vy nhim v ca vn theo vt i tng l chnh xc ha s tng

16
ng ca cc vt i tng trong cc khung hnh lin tip t d on hng chuyn
ng ca i tng.

3.1.4.2 Cc vn gii quyt

- Theo vt mc tiu da trn m hnh
- Theo vt mc tiu da trn min.
- Theo vt mc tiu da tn ng vin
- Theo vt mc tiu da vo c trng
* Chnh xc ho i tng tng ng (Object matching):
* D on chuyn ng
Nu gii quyt bi ton bm theo mc tiu t hiu qu v tin cy cao, c th ng
dng trong rt nhiu lnh vc.

3.2 Chng trnh m phng bm mc tiu

3.2.1 Qa trnh thu nhn v nhn dng nh
M hnh h thng Camera gim st mc tiu:

Qu trnh ghi hnh c thc hin bng Webcam ca my Laptop thng qua chc
nng h tr Image Acquistion ca phn mm matlab v lu li vi dng .avi hoc
.mat. Sau s dng file ny input cho module nhn dng nh v bm theo vt mc
tiu c thc hin bng b lc Kalman
Chng trnh m phng qu trnh nhn dng v bm mc tiu thc hin theo lu
hnh 3.6.

17

3.2.2. Bm mc tiu s dng thut ton Kalman

Sau khi mc tiu c nhn dng, pht hin chuyn ng t rt trch c trng s
c thut ton Kalman bm theo vt i tng thc hin theo lu hnh 3.7.

18
Rt trch
c trng

D on

Tnh li Kalman

Hiu chnh

Kt thc

Y
Hin th

Hnh 3.7 Lu thut ton lc Kalman

3.2.2.1 Thut ton mch lc Kalman tuyn tnh

Bc d on:

x$ k = F x$ k 1 ,

(3.1)

Pk = FPk 1 F T + Q .

li Kalman:
K k = Pk H T ( HPk H T + R )1 .

(3.2)

Bc hiu chnh:

x$ k = x$ k + K k ( zk H x$ k ) ,

Pk = ( I K k H )Pk .

3.2.2.2 Thut ton mch lc Kalman m rng

(3.3)

19
Bc d on:

x$ k = x$ k 1 ,

(3.4)

Pk = Pk 1 + Q .

li Kalman:
K k = Pk ( Pk + R )1 .

(3.5)

Bc hiu chnh:

x$ k = x$ k + K k ( zk x$ k ) ,

(3.6)

Pk = ( I K k )Pk .

3.2.2.3 Thut ton mch lc Unscented Kalman

Bc d on:

2L
x$ k = i =0 Wi ( m ) ( X k )i ,

P = i =0 Wi

2L

(c)

(3.7)
T

( X ) x$ k ( X ) x$ k .
k i
k i

(3.8)

Bin i Unscented:
( Z k )i = h(( X k )i ) , i = 0,...,2L

(3.9)
T

2L
Pz$ k z$ k = i =0 Wi ( c ) ( Z k )i z$ k ( Z k )i z$ k + R ,

(3.10)

2L
Px$ k z$ k = i =0 Wi ( c ) ( X k )i x$ k ( X k )i z$ k ,

(3.11)

li Kalman:
K k = Px$ k z$ k Pz$k 1z$ k .

(3.12)

Bc hiu chnh:

x$ k = x$ k + K k ( zk z$ k ) ,

(3.13)

Pk = Pk K k Pz$ k z$ k K kT .

(3.14)

3.3 Kt qu thc nghim

M phng mch lc Kalman bm mc tiu. Cc khung nh c ly ngu
nhin l frame 72, 81, 93, 125 ca mt on video .avi khc nhau.

20

Frame 72

Frame 81

Frame 93

Frame 125
Hnh 3.8: Kt qu bm mc tiu

21
Gi tr o lng thc t ti v tr i tng c biu din bi mt hnh ch
nht mu en trong khi mu xanh th hin cho d on v tr ca mc tiu. Ngoi ra
kch thc ng bao c th hin qua nh xm nn en, bng nh m mu xanh
bm theo ng bao.
T hnh 3.5 cho thy mch lc Kalman c th d on v nh hng chnh
xc cao. hnh ch nht mu xanh (d on) ph hp tng i chng kht vi hnh
mu en (o lng). Mch lc Kalman c p ng nhanh. iu ny c ngha l khi
i tng di chuyn th cho php o thay i t ngt.
Kt qu m phng ca phng php bm mc tiu s dng mch lc Kalman,
gi tr sai s c lng RMSE c tnh theo cng thc.
RMSE = MSE (GT ES )
n

MSE =
t =1

(GT E ) 2
n

(3.15)
(3.16)

3.4 Kt lun chng

Bi ton nghin cu mt s k thut pht hin v bm mc tiu, ng thi
tin hnh x l cho ra kt qu l i tng ang cn theo vt ang v tr no
nh du. Sau khi xc nh v tr i tng, s tip tc iu khin thit b ti v tr
mong mun (v tr ca i tng ang theo vt), ng thi quyt nh ra s kin

22

KT LUN V HNG PHT TRIN

1. Kt lun.
* V mt l thuyt.
Lun vn nu ln tng quan v bm mc tiu, cc khi nim lin quan n
x l hnh nh trong bm mc tiu, phn tch cc loi nhiu trng thi v m hnh nh
hng n qu trnh theo di mc tiu di chuyn. Cc phng php bm mc tiu
nh So khp mu, dng quang, Meanshift, Camshift, tr nh nn, lc Particle, c
lng Kalman. Mi phng php c nhng im mnh v hn ch khc nhau. Tuy
nhin mch lc Kalman vn l la chn ti u cho qu trnh bm mc tiu xut pht
t cc u nhc im ca n.
* V mt thc tin.
Lun vn a ra hng tip cn ng dng mch lc Kalman trong bi ton
bm mc tiu c th nh s dng phng php nhn dng hnh nh ca phng php
tr nh nn, trch chn c trng, s dng thut ton mch lc Kalman bm mc
tiu chuyn ng. a ra kt qu m phng, nh gi kt qu sai s c lng v o
c.

2. Hng pht trin

Trong qu trnh thc hin ti, do nhng hn ch v trnh v thi gian
thc hin ti, chng trnh c xy dng ch l cc thut ton pht hin chuyn
ng v theo vt mc tiu da vo video. trin khai trong thc t n i hi cn
phi ci tin hn na. Hy vng trong tng lai, nhng pht trin di y s gip
ti hon thin hn.
- Kt hp vic pht hin khun mt vi vic pht hin mt, pht hin hnh dng
ca con ngi.
- Xy dng c thut ton ci thin cht lng ca video nh loi tr nhiu,
loi tr bong v ti u ha cc thut ton tng tc ca chng trnh.
- Nghin cu mch lc Unscented Kalman phi tuyn cn chnh h thng v
tinh.