%?compute?the?background?image
Im0?=?double（imread（‘ball00000100.jpg‘‘jpg‘））;
Im1?=?double（imread（‘ball00000101.jpg‘‘jpg‘））;
Im2?=?double（imread（‘ball00000102.jpg‘‘jpg‘））;
Im3?=?double（imread（‘ball00000103.jpg‘‘jpg‘））;
Im4?=?double（imread（‘ball00000104.jpg‘‘jpg‘））;
Imback?=?（Im0?+?Im1?+?Im2?+?Im3?+?Im4）/5;
[MRMCDim]?=?size（Imback）;

%?Kalman?filter?static?initializations
R=[[0.28450.0045]‘[0.00450.0455]‘];
H=[[10]‘[01]‘[00]‘[00]‘];
Q=0.01*eye（4）;
dt=1;
A1=[[1000]‘[0100]‘[dt010]‘[0000]‘];??%?on?table?no?vertical?velocity
A2=[[1000]‘[0100]‘[dt010]‘[0dt01]‘];?%?bounce
A3=[[1000]‘[0100]‘[dt010]‘[0dt01]‘];?%?normal?motion
g?=?6.0;??????????????%?gravity=pixels^2/time?step
Bu1?=?[0000]‘;???%?on?table?no?gravity
Bu2?=?[000g]‘;???%?bounce
Bu3?=?[000g]‘;???%?normal?motion
loss=0.7;

%?multiple?condensation?states
NCON=100;??????????%?number?of?condensation?samples
MAXTIME=60;????????%?number?of?time?frames
x=zeros（NCONMAXTIME4）;??????%?state?vectors
weights=zeros（NCONMAXTIME）;??%?est.?probability?of?state
trackstate=zeros（NCONMAXTIME）;?????????%?state=123;
P=zeros（NCONMAXTIME44）;????%?est.?covariance?of?state?vec.
for?i?=?1?:?NCON??????????????%?initialize?estimated?covariance
for?j?=?1?:?MAXTIME
??P（ij11）?=?100;
??P（ij22）?=?100;
??P（ij33）?=?100;
??P（ij44）?=?100;
end
end
pstop=0.05;??????%?probability?of?stopping?vertical?motion
pbounce=0.30;????%?probability?of?bouncing?at?current?state?（overestimated）
xc=zeros（41）;???%?selected?state
TP=zeros（44）;???%?predicted?covariance

%?loop?over?all?images
fig1=1;
fig2=0;
fig15=0;
fig3=0;
for?i?=?1?:?MAXTIME
i
??%?load?image
??if?i?????Im?=?（imread（[‘ball0000010‘int2str（i-1）?‘.jpg‘]‘jpg‘））;?
??else
????Im?=?（imread（[‘ball000001‘int2str（i-1）?‘.jpg‘]‘jpg‘））;?
??end
??if?fig1?>?0
????figure（fig1）
????clf
????imshow（Im）
??end
??Imwork?=?double（Im）;

??%?extract?ball
??[cc（i）cr（i）radiusflag]=extractball（ImworkImbackfig1fig2fig3fig15i）;
??if?flag==0
????for?k?=?1?:?NCON
??????x（ki:）?=?[floor（MC*rand（1））floor（MR*rand（1））00]‘;
??????weights（ki）=1/NCON;
????end
????continue
??end

??%?display?green?estimated?ball?circle?over?original?image
??if?fig1?>?0
????figure（fig1）
????hold?on
????for?c?=?-0.99*radius:?radius/10?:?0.99*radius
??????r?=?sqrt（radius^2-c^2）;
??????plot（cc（i）+ccr（i）+r‘g.‘）
??????plot（cc（i）+ccr（i）-r‘g.‘）
????end
??end

??%?condensation?tracking
??%?generate?NCON?new?hypotheses?from?current?NCON?hypotheses
??%?first?create?an?auxiliary?array?ident（）?containing?state?vector?j
??%?SAMPLE*p_k?times?where?p?is?the?estimated?probability?of?j
??if?i?~=?1
????SAMPLE=10;
????ident=zeros（100*SAMPLE1）;
????idcount=0;
????for?j?=?1?:?NCON????%?generate?sampling?distribution
??????num=floor（SAMPLE*100*weights（ji-1））;??%?number?of?samples?to?generate
??????if?num?>?0
????????ident（idcount+1:idcount+num）?=?j*ones（1num）;
????????idcount=idcount+num;
??????end
????end
??end

??%?generate?NCON?n

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件???????4023??2004-11-14?10:05??卡爾曼的視頻序列幀圖像的跟蹤程序\基于卡爾曼的視頻序列幀圖像的跟蹤程序1\ball00000117.jpg

?????文件???????4104??2004-11-14?10:05??卡爾曼的視頻序列幀圖像的跟蹤程序\基于卡爾曼的視頻序列幀圖像的跟蹤程序1\ball00000118.jpg

?????文件???????4134??2004-11-14?10:05??卡爾曼的視頻序列幀圖像的跟蹤程序\基于卡爾曼的視頻序列幀圖像的跟蹤程序1\ball00000119.jpg

?????文件???????4146??2004-11-14?10:06??卡爾曼的視頻序列幀圖像的跟蹤程序\基于卡爾曼的視頻序列幀圖像的跟蹤程序1\ball00000120.jpg

?????文件???????4119??2004-11-14?10:06??卡爾曼的視頻序列幀圖像的跟蹤程序\基于卡爾曼的視頻序列幀圖像的跟蹤程序1\ball00000121.jpg

?????文件???????4062??2004-11-14?10:06??卡爾曼的視頻序列幀圖像的跟蹤程序\基于卡爾曼的視頻序列幀圖像的跟蹤程序1\ball00000122.jpg

?????文件???????4032??2004-11-14?10:06??卡爾曼的視頻序列幀圖像的跟蹤程序\基于卡爾曼的視頻序列幀圖像的跟蹤程序1\ball00000123.jpg

?????文件???????4067??2004-11-14?10:06??卡爾曼的視頻序列幀圖像的跟蹤程序\基于卡爾曼的視頻序列幀圖像的跟蹤程序1\ball00000124.jpg

?????文件???????4076??2004-11-14?10:06??卡爾曼的視頻序列幀圖像的跟蹤程序\基于卡爾曼的視頻序列幀圖像的跟蹤程序1\ball00000125.jpg

?????文件???????4008??2004-11-14?10:06??卡爾曼的視頻序列幀圖像的跟蹤程序\基于卡爾曼的視頻序列幀圖像的跟蹤程序1\ball00000126.jpg

?????文件???????3972??2004-11-14?10:06??卡爾曼的視頻序列幀圖像的跟蹤程序\基于卡爾曼的視頻序列幀圖像的跟蹤程序1\ball00000127.jpg

?????文件???????4099??2004-11-14?10:06??卡爾曼的視頻序列幀圖像的跟蹤程序\基于卡爾曼的視頻序列幀圖像的跟蹤程序1\ball00000128.jpg

?????文件???????4087??2004-11-14?10:06??卡爾曼的視頻序列幀圖像的跟蹤程序\基于卡爾曼的視頻序列幀圖像的跟蹤程序1\ball00000129.jpg

?????文件???????4082??2004-11-14?10:07??卡爾曼的視頻序列幀圖像的跟蹤程序\基于卡爾曼的視頻序列幀圖像的跟蹤程序1\ball00000130.jpg

?????文件???????3940??2004-11-14?10:04??卡爾曼的視頻序列幀圖像的跟蹤程序\基于卡爾曼的視頻序列幀圖像的跟蹤程序1\ball00000106.jpg

?????文件???????4013??2004-11-14?10:04??卡爾曼的視頻序列幀圖像的跟蹤程序\基于卡爾曼的視頻序列幀圖像的跟蹤程序1\ball00000107.jpg

?????文件???????4078??2004-11-14?10:04??卡爾曼的視頻序列幀圖像的跟蹤程序\基于卡爾曼的視頻序列幀圖像的跟蹤程序1\ball00000108.jpg

?????文件???????4094??2004-11-14?10:04??卡爾曼的視頻序列幀圖像的跟蹤程序\基于卡爾曼的視頻序列幀圖像的跟蹤程序1\ball00000109.jpg

?????文件???????4101??2004-11-14?10:04??卡爾曼的視頻序列幀圖像的跟蹤程序\基于卡爾曼的視頻序列幀圖像的跟蹤程序1\ball00000110.jpg

?????文件???????4089??2004-11-14?10:05??卡爾曼的視頻序列幀圖像的跟蹤程序\基于卡爾曼的視頻序列幀圖像的跟蹤程序1\ball00000111.jpg

?????文件???????4072??2004-11-14?10:05??卡爾曼的視頻序列幀圖像的跟蹤程序\基于卡爾曼的視頻序列幀圖像的跟蹤程序1\ball00000112.jpg

?????文件???????3988??2004-11-14?10:05??卡爾曼的視頻序列幀圖像的跟蹤程序\基于卡爾曼的視頻序列幀圖像的跟蹤程序1\ball00000113.jpg

?????文件???????3967??2004-11-14?10:05??卡爾曼的視頻序列幀圖像的跟蹤程序\基于卡爾曼的視頻序列幀圖像的跟蹤程序1\ball00000114.jpg

?????文件???????3996??2004-11-14?10:05??卡爾曼的視頻序列幀圖像的跟蹤程序\基于卡爾曼的視頻序列幀圖像的跟蹤程序1\ball00000115.jpg

?????文件???????4019??2004-11-14?10:05??卡爾曼的視頻序列幀圖像的跟蹤程序\基于卡爾曼的視頻序列幀圖像的跟蹤程序1\ball00000116.jpg

?????文件???????4066??2004-11-14?10:08??卡爾曼的視頻序列幀圖像的跟蹤程序\基于卡爾曼的視頻序列幀圖像的跟蹤程序1\ball00000140.jpg

?????文件???????4014??2004-11-14?10:08??卡爾曼的視頻序列幀圖像的跟蹤程序\基于卡爾曼的視頻序列幀圖像的跟蹤程序1\ball00000141.jpg

?????文件???????3942??2004-11-14?10:08??卡爾曼的視頻序列幀圖像的跟蹤程序\基于卡爾曼的視頻序列幀圖像的跟蹤程序1\ball00000142.jpg

?????文件???????4010??2004-11-14?10:08??卡爾曼的視頻序列幀圖像的跟蹤程序\基于卡爾曼的視頻序列幀圖像的跟蹤程序1\ball00000143.jpg

?????文件???????4095??2004-11-14?10:08??卡爾曼的視頻序列幀圖像的跟蹤程序\基于卡爾曼的視頻序列幀圖像的跟蹤程序1\ball00000144.jpg

............此處省略42個文件信息