Target Tracking Algorithm Suitable for Fisheye Camera in Vehicle Environment

Abstract

Moving target tracking is one of the core issues in the fields of automobile assisted driving and autonomous driving. This algorithm proposes a target tracking algorithm suitable for fisheye cameras in vehicle environment. A background point removal method based on median ordering is proposed to optimize the optical flow method to solve the problem of target scale change in fisheye camera videos. Multi-scale scaling processing for frames, tracking algorithm based on cyclic matrix structure (CSK), target tracking for multiple images after zooming, using fitting to determine the maximum corresponding value, reducing the error caused by target deformation on tracking results. The tracking test results of multiple fisheye camera videos in the vehicle environment show that the algorithm has high real-time tracking accuracy.