Implementation of Camshift Target Tracking Algorithm Based on Hybrid Filtering and Multifeature Fusion

Algorithm 1

Hybrid particle filter algorithm steps.

1. Initialization: sample the prior probability distribution p(x0) to get particles

2. For

3. Update the particles according to formula (19) to obtain

4. Update the importance weight according to equation (29) and get

5. Normalize the weights according to equation (32) to obtain

6. Resample the particles to obtain the particle density (34)

7. According to equation (35), the Kalman gain is obtained

8. According to formula (37), the posterior estimation error covariance matrix is is obtained

9. According to equation (36), the optimal estimate of state is obtained

10. End