I HC QUC GIA TP.

H CH MINH
TRNG I HC BCH KHOA
NG TH THU HOA
THEO VT I TNG S DNG MIXTURE OF
GAUSSIAN MODEL V PARTICLE FILTER
(Object tracking based on Mixture of Gaussian Model and
Particle Filter)
CNG LUN VN THC S
TP. H CH MINH 2013
I HC QUC GIA TP. H CH MINH
TRNG I HC BCH KHOA
NG TH THU HOA
THEO VT I TNG S DNG MIXTURE OF
GAUSSIAN MODEL V PARTICLE FILTER
CHUYN NGNH: KHOA HC MY TNH
M S CHUYN NGNH: 60.48.01
CNG LUN VN THC S
HNG DN KHOA HC
TS. NGUYN THANH BNH
TP. H CH MINH - 2013
cng lun vn thc s
1
MC LC
M U................................................................................................................... 2
ng lc nghin cu, cc thch thc.................................................................. 2
B cc ca ti ................................................................................................ 3
NI DUNG............................................................................................................... 4
CHNG 1- GII THIU...................................................................................... 4
1.1 Gii thiu ti.......................................................................................... 4
1.2 Ni dung ti........................................................................................... 5
Pht biu bi ton....................................................................................... 5
Gii hn ti............................................................................................ 5
1.3 Mc tiu ti............................................................................................ 5
1.4 Phng php nghin cu............................................................................ 6
CHNG 2 CNG TRNH NGHIN CU LIN QUAN................................ 7
2.1 Gii thiu v cc gii thut ......................................................................... 7
2.2 Cc cng trnh nghin cu lin quan........................................................... 9
CHNG 3 - BI TON THEO VT I TNG V HNG TIP CN 11
3.1 Qu trnh pht hin v theo vt i tng................................................. 11
3.1.1 Pht hin i tng chuyn ng (Moving object detection) ............ 12
3.1.2 M hnh i tng (Object Modeling).............................................. 13
3.2 Gii thut xut ..................................................................................... 17
3.2.1 Object Extraction from background.................................................. 17
3.2.2 Object Tracking................................................................................ 19
CHNG 4- KT QU D KIN T C................................................. 23
4.1 Kt qu d kin ........................................................................................ 23
4.2 Phng php nh gi kt qu.................................................................. 23
4.3 Nhng ng gp ca nghin cu .............................................................. 23
D KIN K HOCH THC HIN................................................................... 24
TI LIU THAM KHO
cng lun vn thc s
2
M U
ng lc nghin cu, cc thch thc
Theo vt i tng (Object Tracking) l bi ton thuc lnh vc th gic my
tnh. Trong mi nm tr li y, cng vi tc pht trin ca khoa hc k thut,
con ngi cng c nhu cu s dng cc h thng thng minh vi mc t ng
ha ngy cng cao. Mt s ng dng ca lnh vc th gic my tnh bao gm h
thng: kim sot quy trnh (trong lnh vc robot), iu hng (trong giao thng v
robot), pht hin s kin (an ninh v gim st), m hnh ha i tng (phn tch
nh y khoa), gim st t ng (trong cc ng dng sn xut).
Trong lnh vc an ninh-gim st (security and surveillance), th gic my tnh
c ng dng rt nhiu. H thng gim st (Surveillance system) bao gm ba quy
trnh : Xc nh i tng (Object extraction), theo vt i tng (Object tracking)
v nhn dng hnh vi (Action recognition). T lu tr thng tin thu thp c
vo c s d liu hoc pht hin bt thng a ra cnh bo kp thi.
S quy trnh ca h thng gim st
Theo vt i tng trong video c th nh ngha l bi ton xc nh v tr ca
i tng theo thi gian khi i tng chuyn ng. Ty vo tng ng dng c th
m b theo vt i tng (Tracker) cung cp cc thng tin khc nhau v i tng
nh hnh dng, din tch, ta trung tm, hng chuyn ng, t c th
a ra d bo v v tr di chuyn tip theo ca i tng hoc nhn dng hnh vi
a ra cnh bo cho nhng hnh ng bt thng.
Thu thp
hnh nh
Pht hin
i tng
Theo vt
i tng
Nhn dng
hnh vi
Lu tr
thng tin
Cnh bo
cng lun vn thc s
3
Bi ton theo vt i tng l bi ton phc tp v trong video quan st c th
xut hin cc vn :
- Nhiu do phn gii ca camera thp, do iu kin khch quan (thi tit,
k thut ghi hnh, nh sng)
- i tng c chuyn ng phc tp, tc nhanh.
- i tng c kch thc thay i, b che khut bi i tng khc
- S thay i ca chiu sng, gc chiu sng
- i tng c mu sc ging vi cnh nn.
- i tng di chuyn khi vng quan st v xut hin tr li
Ngoi ra, yu cu theo vt n i tng hoc a i tng, hnh nh thu thp t
mt hoc nhiu camera, yu cu x l thi gian thc cng l nhng thch thc ln
trong bi ton theo vt i tng.
V vy, theo vt i tng l lnh vc vn c cc nh khoa hc quan tm nghin
cu.
B cc ca ti
Lun vn chia thnh 4 chng:
- Chng 1: Gii thiu v ti v ni dung s nghin cu.
- Chng 2: Tng quan cc gii thut c xut, cc cng trnh nghin
cu lin quan n ti.
- Chng 3: Trnh by cc hng tip cn phn tch v gii quyt bi ton
theo vt i tng. Cc gii thut xut cng s c trnh by trong
chng ny.
- Chng 4: S d kin kt qu t c, nh gi kt qu v qua nu ln
nhng ng gp ca ti nghin cu.
cng lun vn thc s
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NI DUNG
CHNG 1- GII THIU
Chng mt s gii thiu v vn , mc tiu v ni dung nghin cu ca
ti, gii hn ca ti v phng php nghin cu.
1.1 Gii thiu ti
Hiu mt cch n gin, theo vt i tng l bi ton xc nh ta ca i
tng ti mi khung hnh (frame) trong on video quan st khi i tng chuyn
ng.
Mt vi ng dng quan trng ca bi ton theo vt i tng nh:
- Gim st t ng (Automated video surveillance): trong nhng ng dng
ny h thng th gic my tnh c thit k kim sot (monitor) nhng
chuyn ng trong mt vng (area), xc nh i tng chuyn ng v cnh
bo khi thy bt k tnh hung kh nghi no. i hi h thng phi mnh
phn bit c cc thc th t nhin v con ngi.
- Robot vision: vi robot t ng, h thng iu hng (navigation) cn phi
nhn bit c chng ngi vt (obstacle) trn ng i. V nu l nhng
i tng di chuyn, robot cn kch hot h thng theo vt thi gian thc
trnh va chm.
- iu phi giao thng (traffic monitoring): Trn cc i l hoc cc trc
ng chnh, giao thng c gim st lin tc qua camera. Bt k phng
tin no vi phm lut giao thng hoc lin quan n nhng hnh vi phm
php khc u d dng c pht hin nu h thng gim st c tch hp tnh
nng theo vt i tng.
- Animation: gii thut theo vt c th s dng m rng k thut lm phim
hot hnh
- Ngoi ra cn nhng ng dng trong motion-based recognition, video
indexing, human-computer interaction
Khi xem xt bi ton theo vt i tng cn quan tm n cch biu din i tng
(object representation), la chn c trng ph hp (feature selecton), m hnh ha
i tng v chuyn ng ca i tng da trn cc c trng. C nhiu phng
cng lun vn thc s
php c xut gii quyt bi ton theo vt i tng. Ty vo mi trng
quan st, ng cnh, mc tiu quan st m la chn cc gii thut khc nhau.
1.2 Ni dung ti
Vn t ra l lm sao t mt on video quan st, ta xc nh c u l
i tng ang chuyn ng, theo di s di chuyn ca i tng v xy dng qu
o chuyn ng ca i tng.
Pht biu bi ton
Cho trc tp d liu l on video cha i tng cn theo vt
D liu u vo (input): on video cha i tng ang chuyn ng.
D liu u ra (output): s qu o chuyn ng ca i tng
input output
Gii hn ti
Nh phn tch trong phn m u, c nhiu thch thc trong bi ton theo
vt i tng khin cho bi ton tr nn rt phc tp. V vy, mi gii thut xut
u km theo nhng gi thit quy nh nhng iu kin rng buc nht nh. Trong
nghin cu ny lun vn ch xc nh i tng l con ngi, d liu t mt
camera, v quan st c thc hin trong iu kin nh sng tt.
1.3 Mc tiu ti
Mc tiu nghin cu l tm hiu cc kin thc c lin quan n h thng
gim st, tm hiu v cc gii thut theo vt i tng, xy dng c mt gii
thut hiu qu. C th, pht hin c i tng chuyn ng, phn tch i tng
khi cnh nn v i tng khc, xc nh ta ca i tng trong mi khung
hnh, lin kt cc ta c c qu o chuyn ng ca i tng.
Gii thut theo
vt i tng
cng lun vn thc s
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1.4 Phng php nghin cu
Lun vn s i t vic tham kho cc cng trnh nghin cu trc y lin
quan n bi ton theo vt i tng
- Xem xt cc gii thut tc gi s dng
- Phn tch cc gii thut theo tng giai on
- Tng hp v phn loi thut ton da trn cch la chn c trng v biu
din i tng
- nh gi u im ca tng thut ton cng nh nhng hn ch cn tn ti
T la chn thut ton hiu qu nht ti mi giai on, kt hp cc thut ton
xy dng nn mt gii thut gii quyt bi ton theo vt i tng trong nhng iu
kin rng buc nu trn.
Hin thc gii thut bng cng c Matlab. So snh kt qu t c vi kt qu ca
cc cng trnh nghin cu trc nh gi mc hiu qu ca gii thut.
Kt lun chng 1:
Chng 1 nu ln cc ng dng ca h thng theo vt i tng, trnh by v
ni dung nghin cu, mc tiu v phng php nghin cu.
cng lun vn thc s
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CHNG 2 CNG TRNH NGHIN CU LIN QUAN
Chng hai s tng hp mt s phng php nghin cu v trnh by mt vi
nghin cu lin quan n ti
2.1 Gii thiu v cc gii thut
Bi ton theo vt i tng t ra nhiu vn cn xem xt khi tm kim gii
thut. Nh mc tiu l con ngi hay phng tin? Theo vt n i tng hay a
i tng? Mi trng trong nh hay ngoi tri? ng dng vi mc ch pht hin
hnh vi bt thng hay ng dng theo vt trong cnh quay thi u trong th thao?
V ng dng rng ri ca bi ton m c rt nhiu nh nghin cu xut
v pht trin cc gii thut khc nhau.
[1] phn chia cc k thut theo vt i tng thnh 4 dng:
- Theo vt da trn vng i tng
(Tracking based on a moving object region)
Gii thut ny ch yu da vo thuc tnh ca blob nh kch thc, mu sc, hnh
dng, vn tc (velocity), trng tm (centroid). u im ca gii thut l thi gian
tnh ton nhanh v hiu qu vi s lng i tng t. Hn ch ca gii thut l
khng hiu qu khi i tng b che khut bi i tng khc trong trng hp
nhiu i tng.
- Theo vt da trn ng nt ni bt ca i tng
(Tracking based on an active contour of a moving object)
Contour ca i tng c biu din bi mt snake. Gii thut ch yu da trn
boundary ca i tng. u im l c hiu qu trong trng hp theo vt ngi i
b (pedestrian) bng cch lc chn ng nt ca u; c th ci thin thi gian
tnh ton. Hn ch l khng gii quyt c bi ton i tng b che khut mt
phn (partial occlusion) v nu i tng b che khut hoc hai i tng chng lp
ln nhau mt phn trong qu trnh khi to (tc l nhng frame u tin) th s
gy ra li.
- Theo vt da trn m hnh ha i tng
(Tracking based on moving object model)
M hnh ca i tng thng c quy v m hnh hnh hc ca i tng trong
khng gian 3D v gii thut s nh ngha tham s xc nh i tng. Gii thut
ny gii quyt c bi ton che khut mt phn nhng li nh hng n thi gian
cng lun vn thc s
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x l. u im ca gii thut l c chnh xc cao khi s lng i tng khng
nhiu.
- Theo vt da trn xc nh c trng ca i tng
(Tracking based on selected features of moving object)
La chn nhng c trng tiu biu ca i tng v xem xt cc c trng qua
cc frame lin tip xc nh i tng di chuyn v theo vt. Khi i tng b
che khut, mt hoc hai c trng khng th s dng, vn c th da vo mt trong
nhng c trng cn li. Tuy nhin, li ny sinh bi ton gom cm c trng
(feature clustering), lm sao xc nh c nhng c trng no l thuc cng mt
i tng trong sut qu trnh theo vt (trng hp theo vt nhiu i tng).
Trong [2] theo vt i tng c phn loi thnh ba phng php:
- Theo vt da trn im (Point tracking)
i tng c biu din bng tp cc im v cc im ny c lin kt da trn
cc rng buc v chuyn ng, v tr ca i tng. Hn ch ca phng php l
cn c mt c ch bn ngoi pht hin i tng trong mi frame.
Gii thut tiu biu l Kalman Filter, Particle Filter, Multi Hypothesis Tracking [3]
- Theo vt da trn nhn (Kernel tracking)
M hnh ca i tng c th c biu din di dng mu (template), hoc m
hnh mt (density based model) v d nh histogram. Theo vt c thc hin
bng cch tnh ton chuyn ng ca i tng qua cc frame lin tip.
Gii thut tiu biu l Mean-shift, Simple Template Matching, Support Vector
Machine (SVM) [3]
- Theo vt da trn hnh chiu (Silhouette tracking)
Sau khi c lng vng i tng (Object region) trong mi frame, i tng c
theo vt bng cch s dng thng tin m ha trong vng i tng. Cc thng tin
ny c th di hnh thc l m hnh v hnh dng hoc mt ca i tng. Khi
c m hnh i tng, theo vt c thc hin bng phng php so khp hnh
dng (shape matching) hoc m rng ng vin (contour evolutions)
Tiu biu l Contour Tracking, Shape Matching. [3]
cng lun vn thc s
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Hnh 2.1 Cc gii thut theo vt i tng [2,3]
2.2 Cc cng trnh nghin cu lin quan
Object Classification and Tracking in Video Surveillance [1]
Qi Zang and Reinhard Klette
H thng theo vt i tng c xy dng cho ng dng trong gim st giao
thng (traffic surveillance)
giai on u, s dng gii thut tr nn phn tch i tng, Mi im
nh nn (background pixel) s c m hnh ha bng phn phi mixture of
Gaussian. Giai on hai, gn nhn cho tng vng i tng (object region) v xc
nh cc c trng: bouding rectangle (hnh ch nht nh nht cha i tng),
color (khng gian mu RGB), center (trng tm ca hnh ch nht), velocity (s
pixel di chuyn/giy theo c 2 hng dc ngang). S dng SUSAN (b pht hin
gc) xc nh gc ca phng tin trong mi bounding box. S dng phng
php lai (hybrid method) kt hp Kalman Filter vi k thut so khp (matching)
theo vt i tng.
u im ca gii thut l gim c thi gian tnh ton khi s dng b pht
hin gc trong vng bounding rectangle. V s dng t s cao/rng trong thng tin
gc phn lp i tng l ngi i b hay phng tin, nhng ch c hiu qu
nu cc vng i tng l tch bit.
Object
Tracking
Point
Tracking
Kernel
Tracking
Silhouette
Tracking
Kalman Filter
Particle Filter
Multi Hypothesis Tracking
Mean-shift
Simple Template Matching
Support Vector Machine
Contour Tracking
Shape Matching
cng lun vn thc s
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Adaptive meanshift for automated multi object tracking [4]
C. Beyan A. Temizel
a ra b theo vt a i tng hon ton t ng da trn gii thut mean-
shift. S dng Gaussian loi nhiu, bng v rt trch foreground. ng thi
Gaussian xc nh bouding box, dng nh mt mt n nhn (kernel mask)
gim vng tm kim v d bo v tr mi ca i tng.
u im l pht hin c khi i tng vo hoc ra khi vng quan st. Cp
nht b theo vt vi thng tin foreground ci tin mean-shift, lm cho gii thut
c hiu qu c trong trng hp i tng thay i v hnh dng, kch thc. Tuy
nhin, ch p dng vi trng hp camera tnh (static camera)
Object tracking in an outdoor environment using fusion of features and
camera [5]
Quming Zhou, J.K. Aggarwal
Bi bo a ra mt h thng theo vt v phn lp i tng chuyn ng s
dng mt hoc nhiu camera trong mi trng ngoi tri (outdoor). Kt hp cc c
trng nh v tr, hnh dng, mu sc tng hiu qu theo vt i tng. Kt hp
thng tin t cc camera c c qu o chuyn ng ca i tng. ng thi,
gii quyt bi ton che khut bng cch s dng b lc Kalman m rng (extended
Kalman Filter-EKF). Gii thut cng phn lp i tng thnh ba nhm: mt ngi
(single person), nhm ngi (people group) v phng tin (vehicle). Tuy nhin
EKF khng thnh cng nu i tng b che khut c 2 camera.
Kt lun chng 2:
Chng 2 tng hp cc phng php theo vt i tng theo mt s nghin cu
trc y, nu nhng c im cng nh u, nhc im ca cc phng php ;
trnh by tng quan v mt s nghin cu lin quan n theo vt i tng.
cng lun vn thc s
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input
output
Trajectory
CHNG 3 - BI TON THEO VT I TNG V
HNG TIP CN
Chng ba trnh by quy trnh tng bc theo vt i tng, mt s gii
thut thng c p dng. Cui cng, nu m t c th v gii thut xut.
3.1 Qu trnh pht hin v theo vt i tng
T d liu u vo l on video, qu trnh theo vt i tng bao gm cc
bc:
- Tch frame: Tch on video thnh cc frame nh.
- Tr nn: X l cc frame xc nh cnh nn (background) v i tng.
- Tin x l: Kh bng, nhiu v phn tch i tng khi cnh nn.
- Pht hin i tng: Nhn dng i tng chuyn ng, biu din i tng
bng cc c trng.
- Theo vt i tng: Xc dnh v tr ca i tng ti tng frame.
Hnh 3.1 S qu trnh theo vt i tng
video
Tch Frame
(Image Frame)
Tr nn
(Background
Subtraction)
Pht hin
(Object Detection)
Theo vt
(Tracking)
Tin x l
(Post-Processing)
cng lun vn thc s
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3.1.1 Pht hin i tng chuyn ng (Moving object detection)
Pht hin thay i (Change Detection) l vic xc nh nhng thay i trong
trng thi ca pixel thng qua vic kim tra cc gi tr i din (appearance value)
gia cc tp frame [6]
Mt s k thut pht hin thay i thng c s dng nht l
- Frame Differencing and Motion History Image
- Background Subtraction
- Motion Segmentation
- Matrix Decomposition
Qu trnh pht hin i tng bt u vi vic xc nh cc thnh phn trong
frame nh. Sau , phn tch i tng khi cnh nn. C th thc hin bng cch
s dng thng tin t mt frame nhng tng tnh chnh xc thng s dng thng
tin t chui frame.
Qu trnh gm cc bc nh sau:
Khi to nn (Background initialization)
u tin, khi to background. y l bc thit lp cc gi tr xc nh
background hay cn gi l background learning [7]. Sau khi h thng hc gi
tr khi to ca background, thc hin m hnh background (s dng cc gii thut
nh mean filter v median filter [8]).
Tr nn (Background Subtraction)
Hay cn gi l bc pht hin foreground (foreground detection). y l bc
tch foreground vi background. S dng background model v current image
xc nh foreground v xy dng foreground pixel map [9].
Gi l gi tr pixel ca current frame v l gi tr pixel ca
background. l ngng quyt nh pixel c thuc i tng hay khng [8]
- Nu pixel c nh ngha l foreground object
- Nu ( ) ( ) , , t t X x y B x y T < pixel c xc nh l background. Cp nht
( ) ( )
1 , , t t X x y B x y + =
tc gi tr pixel ca current image ti thi im t s
l gi tr pixel ca background khi xem xt thi im t+1
V i tng di chuyn lm cho khung cnh nn s c s thay i, v vy ta cn lin
tc cp nht background model cho vic xc nh foreground chnh xc hn.
( )
, t X x y
( ) , t B x y
T
( ) ( ) , , t t X x y B x y T >
cng lun vn thc s
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Tin x l (Post processing)
Do nhng nh hng ca mi trng nn foreground pixel map c th cha
nhiu. Mc tiu ca bc ny l loi b cc foreground pixel m khng tng ng
vi foreground region thc t, v loi b nhiu xung quanh v bn trong object
region, lm ni bt object region.
Vic kh nhiu cho foreground pixel map c th thc hin bng b lc thng
thp (low pass filter) v morphological operations. B lc thng thp c s dng
lm m (blurring) v gim nhiu (noise reduction) nh loi b cc chi tit nh
hoc ni cc im t on [9]. Trong khi Morphological li c th biu din v m
t cc object region bng phng php boundary hoc skeleton bng cch s dng
cc b lc hnh thi nh erosion (lm mng) v dilation (ct ta)
Pht hin i tng (Object Detection)
Ti bc ny, foreground map l mt nh nh phn. Qut qua nh nh phn
xc nh mt nonzero pixel bt k, tm cc nonzero pixel khc lin kt vi n (tc
k cn vi n, thng l 4-adjacency hoc 8-adjacency [8]), gn nhn cho cc
nonzero pixel va tm c. Qu trnh kt thc khi tt c cc nonzero pixel c
gn nhn. Gom nhm cc nonzero pixel c cng nhn ta s c c cc vng lin
kt (connected region). Trng hp l tng, cc connected region ny chnh l cc
moving object, nhng cng c th l mt vng m nh sng thay i hay bng
(shadow), nn c th cn thm bc Region level post-processing [9] loi b cc
vng c kch thc nh hn ngng (gi tr ngng c nh ngha trc)
3.1.2 M hnh i tng (Object Modeling)
Tracking l so khp (matching) cc connected region gia cc frame lin tip
nhau s dng cc c trng ca i tng nh color, velocity, texture, perimeter
[9]. i tng c tracking bng cch qun l vector c trng qua cc frame.
Rt trch c trng (Feature Extraction)
La chn cc c trng ng vai tr quan trng trong bi ton theo vt. Cc
c trng c chn sao cho n l duy nht trong khng gian c trng phn bit
cc moving object vi nhau. Mt s c trng ph bin dng trong tracking c
[6] xc nh gm c:
- Mu sc (color)
- Gradient
cng lun vn thc s
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- Lung chuyn ng (Optical Flow)
- Kt cu (Texture)
- Corner Points
Biu din i tng (Object Representation)
La chn c trng cng chnh l vic xc nh cch thc biu din i tng.
Cc m hnh biu din i tng c [6] chia thnh:
- Point and region
- Silhouette
- Connected Parts
- Graph and Skeletal
- Spatio Temporal
Hnh 3.2: Mt s cch biu din i tng
T tri qua: object region, elliptical, silhouette (contour), part-based, skeletal
[2] nu thm mt vi phng php biu din i tng
Hnh 3.3: Cc cch biu din i tng theo [2]
cng lun vn thc s
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T tri qua: (a) Centroid, (b) multiple points, (c) rectangular patch, (d) elliptical
patch, (e) part-based multiple patches, (f) object skeleton, (g) object contour, (h)
control points on object contour, (i) object silhouette
M t i tng (Object Descriptors)
[6] tng hp cc m hnh m t i tng bng cc phng php nh:
- Template
- Histogram, HOG, SIFT
- Region Covariance
- Ensembles and Eigenspaces
- Appearance Models
Hnh 3.2: Tng hp cc cc c trng, m hnh biu din v cch m t i tng
3.1.3 Theo vt i tng chuyn ng (Moving object tracking)
Mt s k thut tracking ph bin [6]
- Template Matching
- Density Estimation : Mean Shift
- Motion Estimation
- Kalman Filtering
- Particle Filtering
- Silhouette Tracking
C nhiu k thut tracking khc nhau v mi phng php s da trn nhng
c ch v c trng khc nhau ca i tng.
Vi phng php tracking da trn im nh Kalman Filter v Particle Filter,
ta c th da vo hai c trng ca i tng l Centroid v Bouding box theo
vt. Sau khi xc nh c cc connected region, ta tnh c bouding box ca cc
region . Centroid ca i tng chnh l center ca bouding box. Xc nh
centroid ca tng i tng qua cc frame v xy dng qu o chuyn ng ca
object.
cng lun vn thc s
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Tracjector
Moving Object
Detection
Hnh 3.4: S tng qut cc bc ca quy trnh theo vt i tng
video
Image Frames
Removing
Shadow & Noise
Object Tracking
Background
Model
Background
Model Update
Foreground
Detection
> threshold
< threshold
Background Subtraction
Object Modeling
Detection
Output
Input
Labeling Connected
Component
Region level
Post-Processing
Feature
Extraction
Object
Representation
Post-Processing
cng lun vn thc s
17
3.2 Gii thut xut
pht trin mt gii thut theo vt cn c phng php biu din i tng
ph hp, la chn ng cc c trng tiu biu v thut ton theo vt tt [10].
C th, lun vn xut quy trnh theo vt i tng theo cc bc sau:
1. Video input s c tch thnh cc frame (v d 25frames/s [5])
2. Pht hin i tng bng gii thut Background Subtraction
3. Lc nhiu, bng bng low-pass filter v morphological filter
4. La chn c trng da trn Centroid
5. Biu din i tng bng rectangular shape
6. Tracking bng gii thut Kalman Filter
3.2.1 Object Extraction from background
Gii thut p dng : Background Subtraction
Trc khi thc hin tracking, cn phi rt trch c moving object khi
background. Gii thut phn tch i tng c s dng ph bin nht l
Background Subtraction. C th thc hin bng cch xy dng mt biu din ca
cnh gi l background model, tnh ton sai lnh gia background model v mi
frame. Cc pixel c sai lch khc 0 s c lin kt to thnh cc foreground
region hay moving object.
[9] tng hp v chia Background Subtraction thnh 4 dng:
- Background subtraction with Alpha
- Statistical Methods
- Temporal differencing
- Eigen background subtraction
Mixture of Gaussian Model l phng php ph bin v l mt trong nhng
phng php hiu qu cho Background Subtration [4].
Mi pixel s c m hnh bng mt Mixture of Gaussian vi K thnh phn theo
cng thc sau
Trong :
t X l gi tr ca pixel ti thi im t
l training set ti thi gian t vi T l khong thi gian
( )
{ }
, ......, T t t T X X X =
( )
t , , ,
1
( ) , ,
K
i t t i t i t
i
P X X
=
=

cng lun vn thc s

18
, i t

K
l s thnh phn (component), thng trong khong 3 n 5 [1]
Trng s ca Gaussian th i, l gi tr khng m (non-negative) v c
tng bng 1
Gi tr trung bnh ca Gaussian th i thi gian t.
, i t

Ma trn hip phng sai ca Gaussian th i tai thi gian t,

Vi l phng sai cho thnh phn Gaussian th i
Mi gi tr pixel mi t X s c kin tra vi
K
Gaussian component, nu t X
khp (match) vi component i th cc tham s ca component th i s c cp
nht theo cc cng thc:
( )
, , 1 1 i t i t t I = +
( ) ( ) ( )
2 2
, ,
, , 1
1
T
t i t t i t
i t i t
I I

= +
Vi
( )
, 1 , 1 Pr | , t i t i t I =

l h s hc (learning parameter), xp x 1/ T =
l gi tr trung bnh ca pixel ti thi im t
l pixel ti thi im t
Tham s ca cc component cn li s khng thay i, tc
v
Nhng s c iu chnh theo cng thc
Nu
t X
khng khp vi component no ca Gaussian th component c gi
tr nh nht trong Gaussian s c thay bng component c gi tr bng gi tr
trung bnh ca n. Gn component c phng sai nh nht lm background
V moving object c phng sai ln hn background pixel nn biu din
Background ta sp xp cc Gaussian theo gi tr gim dn.Khi ,
background component vn u vi phng sai thp nht bng cch p dng
ngng T vi
Tt c cc pixel
t X
khng khp vi bt k component no s c ghi nhn l
foreground.
t
t I
, i t ( )
, , 1 1 i t i t =
, , 1 t t t t =
2 2
, , 1 i t i t
=
, , / || || i t i t

, i t
2
,
,
i t
i t
I
=

, i t
( )
, , 1 1 i t i t = +
,
1
,
1
argmin
b
i t
i
b
K
i t
i
B T

=
=
| |
|
= >
|
\ .

cng lun vn thc s

19
Kh nhiu, bng (removing shadow and noise)
Vic pht hin s thay i v sng (brightness) v sc (chromaticity)
trong khng gian mu HSV th chnh xc hn trong khng gian RGB, c bit l
vi cnh quay mi trng bn ngoi, v khng gian mu HSV gn vi nhn thc
mu sc (perception of color) ca con ngi nn ta dng khng gian mu HSV cho
vic loi b nhiu ca cc pixel.
V ch cn loi nhiu trn foreground pixels nn ch foreground pixel c
chuyn i (convert) thnh b ba gi tr hue, saturation, intensity (sc mu, bo
ha, cng ). Cc shadow region c th c c pht hin v loi b bng
cch sau:
Gi E l biu din ca current pixel (n c ghi nhn l foreground pixel) ti
thi im t
B l biu din background pixel ti thi im t
Nu mi foreground pixel tha mn cng thc
V th chng s c ghi nhn l shadow v loi khi
foreground map. Tham s ca shadow pixels s khng c cp nht. Kt thc
bc ny ta s c c mt foreground pixel map c chnh xc cao hn. Tip
theo, gn nhn cc pixel k cn nhau c gi tr non-zero v lin kt cc pixel cng
nhn c c cc moving object.
3.2.2 Object Tracking
Trc khi thc hin tracking ta c th p dng morphological filters gim
bt nh hng ca nhiu.
Vi mi object region ta xc nh cc c trng:
- Bouding rectangle : hnh ch nht nh nht ch object region. ghi nhn li
gi tr ta ti im upper-left v lower-right. T , c th tnh c kch
thc ( rng,chiu cao) ca bouding box
- Color: gi tr RGB trurng bnh ca moving object.
- Center: ly gi tr trng tm (giao ca 2 ng cho) ca bouding box lm
centroid cho moving object region (tnh gn ng)
- Velocity: s pixel/giy theo c chiu dc v ngang.
Moving object c biu din bng vector c trng gm 4 thnh phn
[bouding box, color, center, velocity]
| | , | | h h h s s s E B T E B T < <
1 2 / v v v v T E B T < <
cng lun vn thc s
20
Gii thut xut tracking: Particle Filter
Particle Filter l mt k thut suy din (inference technique) c lng
trng thi chuyn ng t X t im quan st 1 : t Z , vi X l nhn nh phn ca i
tng [12]. Trng thi c lng c k hiu l ( )
1 : t
t
p X Z
Gi s pht sinh c mt tp N mu
( )
{ }
1
N
n
t
n
X
=
t phn phi hu nghim (posterior
distribution) ( )
1 : t
t
p X Z
, ngha l xc xut nhn c trng thi
( ) n
t
X
l
( )
( )
1:
n
t
t
p X Z ,
th mt xc xut ny c th c xp x bng c lng Monte Carlo [11]
( )
( )
( )
1 :
1
1
N
n
t t t
t
n
p X Z X X
N

=
~

Trong ( ) l hm Dirac Delta ti 0:

( ) {
, 0
0, 0
x
x
x
+ =
=
=
( ) 1 x dx
+

=
}
Khi N c lng Monte Carlo s hi t v mt xc xut thc s. Tuy
nhin, vic ly mu trc tip t mt hu nghim khng hiu qu do ( )
1 : t
t
p X Z
thng l a bin v c th thay i theo thi gian. Do to ra tp mu ng
cho phn phi
( )
1 : t
t
p X Z ta s dng phng php ly mu Importance Sampling
[13]
Nguyn l ca Importance Sampling l la chn mt phn phi
q
d ly mu hn
pht sinh tp mu. Mu pht sinh bi Importance Sampling gi l fair sampling,
phn phi
q
gi l phn phi xut (proposal distribution) [12]. Mi mu c
gn mt trng s
( ) n
t
w
, phn nh bn cht vic ly mu c thc hin t mt phn
phi khc vi phn phi mc tiu. Trng s c chun ha sao cho
( )
1
n
t
n
w =

.
Khi , c lng Monte Carlo c vit li nh sau:
( )
( ) ( )
( )
1 :
1
N
n n
t t t
t t
n
p X Z w X X
=
~

Particle Filter xp x mt hu nghim bng tp N mu

( ) ( )
{ }
1
,
N
n n
t t
n
X w
=
[12].
trng chnh l lan truyn tp mu ny theo thi gian nh s sau
cng lun vn thc s
21
D on
( )
{ }
n
t
X
Cp nht
t Z + [ ] t Z +
......
( ) ( )
{ }
1 1
,
n n
t t
X w

( ) ( )
{ }
,
n n
t t
X w
.
Theo [7] nu mt hu nghim ( )
1 1 : 1 t t p X Z
ti thi im 1 t c xp x
bng tp mu
( ) ( )
{ }
1 1
1
,
N
n n
t t
n
X w

=
th hai bc hi quy ca Particle Filter l:
-
D on: ly mu t phn phi xut
q
( ) ( )
( ) 1
,
n n
t t
t t
X q X X Z

Khc vi phng php c lng Bayesian truyn thng, Particle Filter c th s

dng thng tin quan st t Z bc d on tng hiu qu ly mu.
- Cp nht: tnh trng s ca mu
( )
( )
( )
( ) ( )
( )
( ) ( )
( )
( )
1
1
1
x
,
n n n
t
t t t
n n
t t
n n
t t t
p Z X p X X
w w
q X X Z

=
( )
( )
( )
1
n
n
t
t N
n
t
i
w
w
w
=
=

Trng thi hin ti

t X
ca h thng c xc nh bng c lng Expected A
Posterior (EAP)-ly k vng ca mt hu nghim:
( ) ( )
1
N
n n
t
t t
n
X w X
=
=

Mt vn gp phi khi dng Particle Filter l hin tng suy bin (degeneracy).
Sau mt khong thi gian, ngoi tr mt mu duy nht trong tp mu, cc mu cn
li u c trng s nh, khng ng k. khc phc, phng php ly mu Monte
Carlo importance sampling c p dng ti bc cp nht [12]. Qu trnh bao gm
3 bc chnh:
1. u tin, ly N mu
( ) n
t
X
t phn phi xut ( ) t q X
( )
( )
( )
( ) 1 1
n n n
t t
t t t
n
X q X w p X X

=

Vi
1
n
t
w

l trng s ca mu th n trong frame trc .

cng lun vn thc s
22
S dng m hnh chuyn i Gaussian tuyn tnh in hnh (typical linear Gaussian
transition model ) ly mu t mu quan trng ca frame trc .
2. Tip theo, trng s
( ) n
t
w
c tnh nh likelihood
( ) ( )
( )
n n
t
t t
w p Y X =
K hiu trng s c re-weighting bc ny l
( ) n
t w
.
Trong , mu
( ) n
t
X
l fair sampling c pht sinh cho phn phi ( )
1 : 1 t t p X Z
[13].T vic tnh li trng s bc ny, mu quan st t Y li tr thnh mu c
xem xt.
3. Sau , chun ha trng s
( )
{ }
n
t
w
:
( )
( )
( )
n
n
t
t
k
t
k
w
w
w
=

hay chnh xc hn
( )
( )
( )
n
n
t
t
k
t k
w
w
w
.
.
=

Do bc tracking, ta n gin ha m hnh ca i tng thnh mt rectangular

bounding box (hnh ch nht bao quanh i tng). Khi , trng thi ca i tng
chnh l v tr v kch thc ca bounding box,
( )
4
, , , , t t t t t t X x y w h X = e
Trong :
: l ta tm
l chiu rng v chiu cao ca bounding box
Tnh cht quan trng nht ca Particle Filter l kh nng iu khin (handle) nhng
mt hu nghim a m hnh phc tp [13]. Tuy nhin, s kh khn trong trng
hp
t X
l nhiu chiu (high-dimensional).
Vic la chn phn phi xut
q
cng nh hng n hiu qu ca gii thut.
Phng php Particle Filter tng qut c ci tin thnh nhiu phin bn ng dng
cho nhiu trng hp khc nhau nh Sampling Importance Resampling (SIR),
partitioned sampling (PS), Markov Chain Monte Carlo (MCMC), reversible jump
Markov Chain Monte Carlo (RJMCMC) [14]
, t t x y
, t t w h
cng lun vn thc s
23
Kt lun chng 3:
Chng 3 lun vn nu quy trnh theo vt i tng theo tng bc. Gii thch
c th mc tiu ca tng bc v cch thc thc hin, nu ln mt s phng php
c s dng. Ngoi ra, chng 3 cng xut quy trnh v v trnh by c s l
thuyt ca cc gii thut c th c s dng.
CHNG 4- KT QU D KIN T C
4.1 Kt qu d kin
Sau khi trin khai theo gii thut xut d kin s c th:
- V c bounding box cha moving object v hin th c ta trung
tm. Kch thc bouding box thay i theo kch thc ca i tng.
- Hin th ta trung tm ca bouding box. Khi i tng di chuyn, tp cc
im l qu o chuyn ng ca i tng (k hiu l T1)
- ng thi, gii thut tracking Particle Filter cng d bo v tr tip theo ca
i tng v hin th ta ca centroid. Lin kt cc ta ny s to
thnh qu o chuyn ng ca i tng da trn c lng bng Particle
Filter (k hiu l T2)
- Tng thi gian thc thi s nh hn 0,2s (bao gm thi gian cho cc qu trnh
t Object Extraction n Traking)
4.2 Phng php nh gi kt qu
So snh thy mc sai lch gia T1 v T2.
So snh vi kt qu ca cc bi bo
1. Object Classification and Tracking in Video Surveillance
2. Object tracking in an outdoor environment using fusion of features and
cameras
4.3 Nhng ng gp ca nghin cu
- Lun vn c s tng hp v tm tt nhng kin thc lin quan n h thng
theo vt i tng, nhng kh khn thch thc cn tn ti.
- Trong lun vn c trnh by cch thc phn loi cc gii thut theo mt vi
nghin cu trc , gip a ra mt mt cch nhn tng quan v logic
tip cn vi bi ton.
cng lun vn thc s
24
- Trong qu trnh xy dng gii thut, phn tch c th tng bc ca quy
trnh, v ti mi quy trnh c nu ln cc gii thut c th s dng trc khi
a ra gii thut xut.
- Lun vn c s so snh kt qu vi cc nghin cu trc cho thy mc
hiu qu ca gii thut.
Kt lun chng 4:
Chng 4 nu kt qu d kin s t c v cch thc nh gi kt qu. ng
thi, trnh by nhng ng gp ca lun vn
D KIN K HOCH THC HIN
STT Ni dung Thi gian
1
Chng 1,2 : Tm c thm cc cng trnh nghin cu, cc
bi bo mi.
2 tun
2
Chng 3:
- Tm c thm ti liu
- Nu r hn v c im cc gii thut cp 3.1 .
- nh gi so snh gii thut xut so vi cc gii
thut khc
1 tun
2 tun
3
Trin khai gii thut
nh gi kt qu: so snh vi kt qu d kin v cc nghin
cu khc
12 tun hoc
hn
4
Trnh by lun vn 2 tun
TI LIU THAM KHO
[1] Object Classification and Tracking in Video Surveillance
[2] Object Tracking: A Survey 2006
[3]Systematic Survey on Object Tracking Methods in Video
[4] Adaptive meanshift for automated multi object tracking
[5] Object tracking in an outdoor environment using fusion of features and camera
[6] Object Detection and Tracking (Fatih Porikli and Alper Yilmaz)
[7] Adaptive Background Learning for Vehicle Detection and Spatio-Temporal
Tracking
[8] Object Tracking and Detecting Based on Adaptive Background Subtraction
[9] A Survey on Moving Object Detection and Tracking in Video Surveillance
System
[10] Contour Based Object Tracking
[11] VariableResolutionParticleFilter
[12]Key Object Discovery ang Tracking Based on Context-Aware Saliency
[13] Particle filter notes Greg mori