Praćenje više gibajućih objekata algoritmima optimalnog pridriživanja

undergraduate thesis

• Title (english): Tracking of multiple moving objects by optimal assignment algorithms
• Author: Ilijana Franjičević
• Mentor: Ivan Marković (mentor)
• Committee member: Ivan Marković (predsjednik povjerenstva)
• Committee member: Borna Bićanić (član povjerenstva)
• Committee member: Anđela Jurić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2020-07-08, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Praćenje više gibajućih objekata kroz vrijeme predstavlja zahtjevan problem zbog faktora poput blizine objekata, lažnih detekcija, nepredviđenog gibanja te nastajanja i nestajanja objekata. U ovom radu implementiran je Kalmanov filter kao Matlab funkcija te jednostavan algoritam praćenja koji koristi Mađarsku metodu, kako bi se na optimalan način dodijelile detektirane vrijednosti objektima, te Kalmanov filter kojim se ažurira stanje svakog objekta i predviđa stanje u idućem koraku. Rezultati iz programskog sustava Matlab uspoređeni su i analizirani za različit broj objekata, vjerojatnosti detekcije te varijance mjernog šuma.

Abstract (english)

Tracking multiple moving objects over time is a demanding problem due to factors, such as the proximity of objects, false detections, unforeseen movement, and the appearance and disappearance of objects. In this paper is implemented Kalman filter as Matlab function and a simple tracking algorithm that uses the Hungarian method to optimally assign detected values to objects, and the Kalman filter which updates the state of each object and predicts the state in the next step. The results from the Matlab software system were compared and analyzed for different number of objects, detection probabilities and measurement noise variance.

• Keywords: praćenje više gibajućih objekata; Kalmanov filter; Mađarski algoritam; optimalna asignacija
• Keywords (english): multiple moving object tracking; Kalman filter; Hungarian algorithm; optimal assignment
• Language: croatian
• URN:NBN: urn:nbn:hr:168:420541
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-01-13 14:54:10