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Matlab Code

This MATLAB code reads in a video file, calculates the background image by averaging the first 10 frames, and performs object tracking on subsequent frames using background subtraction and a Kalman filter. It initializes the Kalman filter parameters, then loops through each frame, performing background subtraction to extract moving pixels, finds the largest connected component representing the object, measures its centroid, and runs the Kalman filter to predict and update the object's position and velocity over time. Red and blue rectangles are drawn on each frame to visualize the tracking results from background subtraction and the Kalman filter, respectively.

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Bhavish Parkala
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446 views

Matlab Code

This MATLAB code reads in a video file, calculates the background image by averaging the first 10 frames, and performs object tracking on subsequent frames using background subtraction and a Kalman filter. It initializes the Kalman filter parameters, then loops through each frame, performing background subtraction to extract moving pixels, finds the largest connected component representing the object, measures its centroid, and runs the Kalman filter to predict and update the object's position and velocity over time. Red and blue rectangles are drawn on each frame to visualize the tracking results from background subtraction and the Kalman filter, respectively.

Uploaded by

Bhavish Parkala
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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MATLAB CODE: %Code in the Bold, & comments in normal font clear all; close all; clc %% Read

video into MATLAB using aviread video = aviread('rhinos.AVI'); %'n' for calculating the number of frames in the video file n = length(video); % Calculate the background image by averaging the first 10 images temp = zeros(size(video(1).cdata)); [M,N] = size(temp(:,:,1)); for i = 1:10 temp = double(video(i).cdata) + temp; end imbkg = temp/10; % Initialization step for Kalman Filter centroidx = zeros(n,1); centroidy = zeros(n,1); predicted = zeros(n,4); actual = zeros(n,4); % % Initialize the Kalman filter parameters % R - measurement noise, % H - transform from measure to state % Q - system noise, % P - the status covarince matrix % A - state transform matrix R=[[0.2845,0.0045]',[0.0045,0.0455]']; H=[[1,0]',[0,1]',[0,0]',[0,0]']; Q=0.01*eye(4); P = 100*eye(4); dt=1; A=[[1,0,0,0]',[0,1,0,0]',[dt,0,1,0]',[0,dt,0,1]']; % loop over all image frames in the video kfinit = 0; th = 38; for i=1:n imshow(video(i).cdata); hold on imcurrent = double(video(i).cdata);

% Calculate the difference image to extract pixels with more than 40(threshold) change diffimg = zeros(M,N); diffimg = (abs(imcurrent(:,:,1)-imbkg(:,:,1))>th) ... | (abs(imcurrent(:,:,2)-imbkg(:,:,2))>th) ... | (abs(imcurrent(:,:,3)-imbkg(:,:,3))>th); % Label the image and mark labelimg = bwlabel(diffimg,4); markimg = regionprops(labelimg,['basic']); [MM,NN] = size(markimg); % Do bubble sort (large to small) on regions in case there are more than 1 % The largest region is the object (1st one) for nn = 1:MM if markimg(nn).Area > markimg(1).Area tmp = markimg(1); markimg(1)= markimg(nn); markimg(nn)= tmp; end end % Get the upper-left corner, the measurement centroid and bounding window size bb = markimg(1).BoundingBox; xcorner = bb(1); ycorner = bb(2); xwidth = bb(3); ywidth = bb(4); cc = markimg(1).Centroid; centroidx(i)= cc(1); centroidy(i)= cc(2); % Plot the rectangle of background subtraction algorithm -- blue hold on rectangle('Position',[xcorner ycorner xwidth ywidth],'EdgeColor','b'); hold on plot(centroidx(i),centroidy(i), 'bx'); % Kalman window size kalmanx = centroidx(i)- xcorner; kalmany = centroidy(i)- ycorner; if kfinit == 0 % Initialize the predicted centroid and volocity predicted =[centroidx(i),centroidy(i),0,0]' ; else % Use the former state to predict the new centroid and volocity predicted = A*actual(i-1,:)'; end

kfinit = 1; Ppre = A*P*A' + Q; K = Ppre*H'/(H*Ppre*H'+R); actual(i,:) = (predicted + K*([centroidx(i),centroidy(i)]' - H*predicted))'; P = (eye(4)-K*H)*Ppre; % Plot the tracking rectangle after Kalman filtering -- red hold on rectangle('Position',[(actual(i,1)-kalmanx) (actual(i,2)-kalmany) xwidth ywidth], 'EdgeColor', 'r','LineWidth',1.5); hold on plot(actual(i,1),actual(i,2), 'rx','LineWidth',1.5); drawnow; end %end of the code

Read more: http://www.divilabs.com/2013/11/motion-trackingdetection-in-matlab.html#ixzz2qxTezblu

NOTE: The above code sometimes generate the following error & warning, in the initial step itself (while reading the .avi file using "aviread" function. Warning: AVIREAD will be removed in a future release. Use VIDEOREADER instead. > In aviread at 26 In motionnew at 4 Error using aviread (line 80) Unable to locate decompressor to decompress video stream Error in motionnew (line 4) video = aviread('traffic.avi'); # First warning is due to the fact, that aviread function has became obsolete & MATLAB team decided to replace it with a new function called, VideoReader. # In order to avoid the second error, you need to install the avi video codec, the best thing available in the internet is the K-Lite Mega Codec Pack.

Read more: http://www.divilabs.com/2013/11/motion-trackingdetection-in-matlab.html#ixzz2qxTk4PZB

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