clc;clear?all;
close?all;

%%
N=5;???????????????????????????????????????????%初始化背景所需要的幀數(shù)
mov?=?VideoReader（‘sample.avi‘）;????????????????%讀取AVI視頻文件
vidframes=read（mov）;
frameQTY?=?get（mov?‘numberOfframes‘）;??????????%獲取視頻的所有幀數(shù)
tmFr?=?vidframes（:?:?:?1）;?????????%變成灰度圖
[MRMCDim]?=?size（tmFr）;?????????????%讀出二值圖像的大小

%?計(jì)算背景圖片
Imzero?=?zeros（MRMC3）;??%?背景初始化?生成MR×MC×3全零陣或數(shù)組

%?初始化Kalman濾波器
R=[[0.28450.0045]‘[0.00450.0455]‘];??????%觀察協(xié)方差矩陣
H=[[10]‘[01]‘[00]‘[00]‘];????????????%測(cè)量矩陣
Q=0.01*eye（4）;??????????????????????????????%系統(tǒng)協(xié)方差矩陣?eye生成單位陣，例?s=eye（n）?返回n*n單位矩陣
P?=?100*eye（4）;?????????????????????????????%上一時(shí)刻的預(yù)測(cè)估計(jì)協(xié)方差矩陣
dt=10;
A=[[1000]‘[0100]‘[dt010]‘[0dt01]‘];??%從時(shí)刻k到k+1的狀態(tài)xx（k-1:）的躍遷矩陣
g?=?1;??????????????????????????????????????????????%?pixels^2/time?step
Bu?=?[000g]‘;???????????%外界高斯白噪聲，由前一幀預(yù)測(cè)當(dāng)前幀的預(yù)測(cè)值時(shí)，Bu影響預(yù)測(cè)值的幅度.
kfinit=0;
x=zeros（1004）;

%?循環(huán)所有圖片loop?over?all?video
for?i?=?1?:?frameQTY
????%?load?image
????Im?=?vidframes（:?:?:?i）;
????imshow（Im）;
????if（i?<=?N）
????????Imzero?=?Imzero?+?double（Im）;
????else
????????%開始運(yùn)動(dòng)檢測(cè)，首先計(jì)算出背景
????????if（i?==?N+1）
????????????Imback?=?Imzero/N;
????????else
????????????f1?=?double（vidframes（:?:?:?i-1））;
????????????Imzero?=?Imzero?+?double（Im）?-?f1;???%背景更新
????????????Imback?=?Imzero/N;
????????end
????????
????????Imwork?=?double（Im）;
????????
????????%extract?center
????????[cc（i）cr（i）whflag]=extractball（ImworkImbacki）;
????????if?flag==0
????????????continue
????????end
????????
????????hold?on
????????%?center?的實(shí)際軌跡
????????plot（cc（i）cr（i）‘g.‘）?%??球的質(zhì)心（cc（i）cr（i））以綠點(diǎn)表示
????????%從點(diǎn)（cc（i）-radiuscr（i）-radius）開始繪制一個(gè)矩形，寬度為2*radius?長(zhǎng)度為2*radius.其質(zhì)心（cc（i）cr（i））
????????rectangle（‘Position‘[cc（i）-w/2cr（i）-h/2wh]?‘edgecolor‘‘green‘）;????%rectangle函數(shù)創(chuàng)建一個(gè)二維對(duì)象，從點(diǎn)（xy）開始繪制一個(gè)寬w高h(yuǎn)的矩形，對(duì)坐標(biāo)軸數(shù)據(jù)單元指定值。
????????
????????%?更新kalman濾波器
????????if?kfinit==0
????????????xp?=?[MC/2MR/200]‘?;??????%初始的預(yù)測(cè)狀態(tài)
????????else
????????????xp=A*x（i-1:）‘?+?Bu???;??????%預(yù)測(cè)未來(lái)狀態(tài)
????????end
????????kfinit=1;
????????PP?=?A*P*A‘?+?Q??;???%預(yù)測(cè)估計(jì)協(xié)方差矩陣
????????K?=?PP*H‘*inv（H*PP*H‘+R）??%增益?Inv?矩陣求逆
????????x（i:）?=?（xp?+?K*（[cc（i）cr（i）]‘?-?H*xp））‘;??%修正狀態(tài)即更新后的狀態(tài)。?x（n:）;?獲取矩陣的第n行；x（:n）;?獲取矩陣的第n列
????????P?=?（eye（4）-K*H）*PP?;??%修正誤差即更新后的協(xié)方差
????????
????????%?kalman預(yù)測(cè)的區(qū)域
????????hold?on
????????plot（x（i1）x（i2）‘r.‘）?%預(yù)測(cè)的運(yùn)動(dòng)目標(biāo)質(zhì)心（x（i1）x（i2））以紅點(diǎn)表示
????????rectangle（‘Position‘[x（i1）-w/2x（i2）-h/2wh]?‘edgecolor‘‘red‘）;????????
????????pause（0.1）;
????end????
end
%%??關(guān)閉
%close?all;?
xp=cc;
yp=cr;
xf=x（:1）;
yf=x（:2）;
xp（xp==0）=[];
yp（yp==0）=[];
xf（xf==0）=[];
yf（yf==0）=[];


plot（xfyf‘g--‘）;
hold?on
plot（xpyp‘r:‘）;
hold?on
legend（‘物體實(shí)際運(yùn)動(dòng)‘‘卡爾曼濾波后曲線‘）;

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2019-07-16?11:06??matlab程序\
?????文件????????3040??2019-07-09?13:38??matlab程序\Detect_Tracking.m
?????文件????????1928??2019-07-09?13:40??matlab程序\extractball.m
?????文件???????44951??2019-07-16?09:58??matlab程序\Moving_target.fig
?????文件???????14064??2019-07-16?09:58??matlab程序\Moving_target.m
?????文件????????1945??2019-07-04?09:34??matlab程序\yuandian.m
?????文件?????????621??2019-07-04?15:13??matlab程序\zhixin.m
?????文件?????1144320??2019-07-16?11:02??數(shù)字圖像處理課程設(shè)計(jì)報(bào)告（運(yùn)動(dòng)目標(biāo)檢測(cè)）.doc
?????目錄???????????0??2019-07-16?11:07??視頻\
?????目錄???????????0??2019-07-16?11:07??視頻\run\
?????文件?????3269120??2005-04-11?19:03??視頻\run\daria_run.avi
?????文件?????3191296??2005-04-11?18:32??視頻\run\denis_run.avi
?????文件?????5991424??2005-07-31?10:37??視頻\run\eli_run.avi
?????文件?????2802688??2005-04-11?19:09??視頻\run\ido_run.avi
?????文件?????4358144??2005-04-11?19:11??視頻\run\ira_run.avi
?????文件?????4124672??2005-07-31?10:47??視頻\run\lena_run1.avi
?????文件?????4435968??2005-07-31?10:47??視頻\run\lena_run2.avi
?????文件?????2802688??2005-04-11?19:41??視頻\run\lyova_run.avi
?????文件?????5058048??2005-07-31?10:47??視頻\run\moshe_run.avi
?????文件?????5291520??2005-07-31?10:47??視頻\run\shahar_run.avi
?????目錄???????????0??2019-07-16?11:07??視頻\walk\
?????文件?????6536192??2005-04-11?19:03??視頻\walk\daria_walk.avi
?????文件?????5291520??2005-04-11?19:05??視頻\walk\denis_walk.avi
?????文件?????7936512??2005-07-31?10:47??視頻\walk\eli_walk.avi
?????文件?????3346944??2005-04-11?19:09??視頻\walk\ido_walk.avi
?????文件?????6847488??2005-04-11?19:11??視頻\walk\ira_walk.avi
?????文件?????9336320??2005-08-01?10:44??視頻\walk\lena_walk1.avi
?????文件?????8792064??2005-07-31?10:49??視頻\walk\lena_walk2.avi
?????文件?????3891712??2005-04-11?19:42??視頻\walk\lyova_walk.avi
?????文件?????8714240??2005-07-31?10:50??視頻\walk\moshe_walk.avi
?????文件?????9414144??2005-07-31?10:50??視頻\walk\shahar_walk.avi
............此處省略0個(gè)文件信息