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基于小波的穩(wěn)健光流計算方法

王洪雁,  鄭佳,  裴炳南

王洪雁, 鄭佳, 裴炳南. 基于小波的穩(wěn)健光流計算方法[J]. 電子與信息學(xué)報, 2018, 40(12): 2945-2953. doi: 10.11999/JEIT180077
引用本文: 王洪雁, 鄭佳, 裴炳南. 基于小波的穩(wěn)健光流計算方法[J]. 電子與信息學(xué)報, 2018, 40(12): 2945-2953. doi: 10.11999/JEIT180077
Hongyan WANG, Jia ZHENG, Bingnan PEI. A Robust Optical Flow Calculation Method Based on Wavelet[J]. Journal of Electronics & Information Technology, 2018, 40(12): 2945-2953. doi: 10.11999/JEIT180077
Citation: Hongyan WANG, Jia ZHENG, Bingnan PEI. A Robust Optical Flow Calculation Method Based on Wavelet[J]. Journal of Electronics & Information Technology, 2018, 40(12): 2945-2953. doi: 10.11999/JEIT180077

基于小波的穩(wěn)健光流計算方法

doi: 10.11999/JEIT180077 cstr: 32379.14.JEIT180077
  • 1.

    大連大學(xué)遼寧省北斗高精度位置服務(wù)技術(shù)工程實驗室 ??大連 ??116622

  • 2.

    大連大學(xué)大連市環(huán)境感知與智能控制重點實驗室 ??大連 ??116622

基金項目: 國家自然科學(xué)基金(61301258, 61271379)，中國博士后科學(xué)基金(2016M590218)
詳細(xì)信息
    作者簡介:

    王洪雁：男，1979年生，副教授，博士，主要研究方向為MIMO雷達信號處理、毫米波通信、無人機控制

    鄭佳：男，1990年生，碩士生，研究方向為機器視覺、無人機容錯控制

    裴炳南：男，1956年生，教授，博士，博士生導(dǎo)師，主要研究方向為雷達信號處理、毫米波通信

    通訊作者:

    王洪雁　 gglongs@163.com

  • 中圖分類號: TN919.8

A Robust Optical Flow Calculation Method Based on Wavelet

  • 1.

    Liaoning Engineering Laboratory of BeiDou High-precision Location Service, Dalian University, Dalian 116622, China

  • 2.

    Dalian Key Laboratory of Environmental Perception and Intelligent Control, Dalian University, Dalian 116622, China

Funds: The National Natural Science Foundation of China (61301258, 61271379), China Postdoctoral Science Foundation (2016M590218)
  • 摘要: 針對系統(tǒng)誤差導(dǎo)致光流計算穩(wěn)健性較差及精度較低的問題，該文提出一種基于小波多分辨理論的穩(wěn)健光流計算方法。所提算法基于小波多尺度分辨率特性，將光照條件變化及傳感器噪聲引起的系統(tǒng)誤差包含進光流計算中以改善光流計算的穩(wěn)健性及估計精度，并通過總體最小二乘法求解超定小波光流方程組以獲得光流矢量。仿真結(jié)果表明，與傳統(tǒng)的Lucas-Kanade算法、Horn-Schunck算法及基于小波的全向圖像光流估計方法相比，所提算法可顯著改善光流估計精度及穩(wěn)健性。
    Abstract: Focusing on the issue that the systematic errors lead to poor robustness and low accuracy of optical flow calculation, a robust optical flow calculation method is proposed in this paper, which is based on the wavelet multi-resolution theory. With the multi-resolution characteristics of wavelet, the system error caused by variation of illumination conditions and sensor noise is incorporated into the calculation of optical flow to improve the robustness and estimation accuracy. In what follows, the total least square method is used to solve the over-determined wavelet optical flow equations to obtain the optical flow vector. As compared to the traditional Lucas-Kanade approach, Horn-Schunck method and optical flow estimation in omnidirectional images using wavelet approach, simulation results show that the proposed algorithm can significantly improve the accuracy of optical flow estimation and the robustness of the optical flow field.
    • HTML全文

  • 圖  2  慢速運動場景下所得光流

    圖  1  慢速運動場景下采集的連續(xù)4幀圖像

    圖  4  快速運動場景下所得光流

    圖  3  快速運動場景下所采集的連續(xù)4幀圖片

    圖  5  不同運動場景下相鄰2幀圖像所得光流平均角度誤差、平均角度標(biāo)準(zhǔn)差及絕對平均誤差隨迭代次數(shù)變化

    表  2  快速運動下光流性能參數(shù)

    算法類型 E F H
    3幀、4幀 4幀、5幀 5幀、6幀 3幀、4幀 4幀、5幀 5幀、6幀 3幀、4幀 4幀、5幀 5幀、6幀
    HS 12.23 12.20 12.27 12.59 12.54 12.57 0.91 0.93 0.90
    LK 8.76 8.75 8.78 9.12 9.08 9.10 0.78 0.76 0.77
    DC 4.89 4.78 4.82 4.35 4.33 4.36 0.34 0.36 0.35
    本文算法 2.08 2.11 2.13 2.47 2.46 2.41 0.26 0.23 0.25
    下載: 導(dǎo)出CSV

    表  1  慢速運動下光流性能參數(shù)

    算法類型 E F H
    6幀、7幀 7幀、8幀 8幀、9幀 6幀、7幀 7幀、8幀 8幀、9幀 6幀、7幀 7幀、8幀 8幀、9幀
    HS 11.56 11.48 11.51 12.07 11.98 12.05 0.79 0.76 0.80
    LK 7.64 7.57 7.60 8.39 8.36 8.38 0.68 0.64 0.67
    DC 3.21 3.19 3.34 3.45 3.42 3.47 0.34 0.36 0.32
    本文算法 1.95 1.89 1.94 2.26 2.23 2.25 0.18 0.16 0.17
    下載: 導(dǎo)出CSV

    表  3  求解光流所需時間(s)

    算法類型 慢速運動耗時 快速運動耗時
    6幀、7幀 7幀、8幀 8幀、9幀 3幀、4幀 4幀、5幀 5幀、6幀
    HS光流法 4.42 4.38 4.45 5.58 5.39 5.45
    LK光流法 4.14 4.03 4.18 4.67 4.31 4.46
    DC光流法 3.23 3.19 3.42 3.53 3.42 3.47
    本文算法 2.26 2.24 2.31 2.50 2.46 2.41
    下載: 導(dǎo)出CSV
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  • 收稿日期:  2018-01-19
  • 修回日期:  2018-09-18
  • 網(wǎng)絡(luò)出版日期:  2018-09-21
  • 刊出日期:  2018-12-01

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