clc;

frame????????????=?[];??
detectedLocation?=?[];??%檢測到的位置
trackedLocation??=?[];??%跟蹤到的位置
label????????????=?‘‘;??%球的標(biāo)簽
??
motionModel???????????=?‘ConstantAcceleration‘;???????%運(yùn)動模式
initialLocation???????=?‘Same?as?first?detection‘;????%初始化位置
initialEstimateError??=?1E5?*?ones（1?3）;?????????????%初始化估算誤差
motionNoise???????????=?[25?10?1];??????????????????%運(yùn)動噪聲
measurementNoise??????=?25;???????????????????????????%測量噪聲
segmentationThreshold?=?0.05;?????????????????????????%分割閾值

videoReader?=?vision.VideoFileReader（‘movie.avi‘）;
videoPlayer?=?vision.VideoPlayer（‘Position‘?[100100500400]）;
foregroundDetector?=?vision.ForegroundDetector（...?????????????????????%前景色探測器
??‘NumTrainingframes‘?10?‘InitialVariance‘?segmentationThreshold）;
blobAnalyzer?=?vision.BlobAnalysis（‘AreaOutputPort‘?false?...????????
????‘MinimumBlobArea‘?70?‘CentroidOutputPort‘?true）;
accumulatedImage??????=?0;????????????????????????????%累積的圖片
accumulatedDetections?=?zeros（0?2）;??????????????????%累積的探測值
accumulatedTrackings??=?zeros（0?2）;??????????????????%累積的蹤跡
isTrackInitialized?=?false;

while?~isDone（videoReader）
????frame?=?step（videoReader）;????????????????????????
????grayImage?=?rgb2gray（frame）;??????????????????????%圖像灰度化
????foreground?=?step（foregroundDetector?grayImage）;
????detectedLocation?=?step（blobAnalyzer?foreground）;
????if?isempty（detectedLocation）
????????isobjectDetected?=?false;
????else
????????isobjectDetected?=?true;
????????detectedLocation?=?detectedLocation（1?:）;
????end
????
????if?~isTrackInitialized
????????if?isobjectDetected
????????????if?strcmp（initialLocation?‘Same?as?first?detection‘）
????????????????initialLocation?=?detectedLocation;
????????????end
????????????
????????????kalmanFilter?=?configureKalmanFilter（motionModel?...
????????????initialLocation?initialEstimateError?...
????????????motionNoise?measurementNoise）;
????????
????????????isTrackInitialized?=?true;
????????????trackedLocation?=?correct（kalmanFilter?detectedLocation）;
????????????label?=?‘Initial‘;
????????else
????????????trackedLocation?=?[];
????????????label?=?‘‘;
????????end
????else
????????if?isobjectDetected
????????????predict（kalmanFilter）;
????????????trackedLocation?=?correct（kalmanFilter?detectedLocation）;
????????????label?=?‘Corrected‘;
????????else
????????????trackedLocation?=?predict（kalmanFilter）;
????????????label?=?‘Predicted‘;
????????end???
????end
????
????accumulatedImage?=?max（accumulatedImage?frame）;
????accumulatedDetections?=?[accumulatedDetections;?detectedLocation];
????accumulatedTrackings??=?[accumulatedTrackings;?trackedLocation];
????
????combinedImage?=?max（repmat（foreground?[113]）?frame）;
????
????if?~isempty（trackedLocation）
????????shape?=?‘circle‘;
????????region?=?trackedLocation;
????????region（:?3）?=?5;
????????combinedImage?=?insertobjectAnnotation（combinedImage?shape?...
??????????region?{label}?‘Color‘?‘red‘

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2016-06-11?10:47??kalman目標(biāo)跟蹤\
?????文件????????3424??2016-04-30?09:50??kalman目標(biāo)跟蹤\demoForTracking.m
?????文件????23405568??2012-05-12?06:37??kalman目標(biāo)跟蹤\movie.avi
?????文件????????8704??2016-06-11?10:47??kalman目標(biāo)跟蹤\Thumbs.db