% my requirements is to track a "red color circular object like ball" but it is tracking "red color" "objects" moreover it is not doing the kalman tracking please help me!!!!

vid=videoinput('winvideo',2,'I420_320x240');% initialising video

set(vid,'FramesPerTrigger',Inf);

set(vid,'ReturnedColorspace','rgb');

vid.FrameGrabInterval=2;

framesneeded=300;

t=0.01; %time to take readings

x=[0;0]; % nitialising

a=0; % initialising

A = [1 t; 0 1] ; %kalman parameters

D = [t^2/2; t]; %kalman parameters

C = [1 0];% kalman para meters

xnoise = 0.05;

znoise = 10;

Ez = znoise^2;

Ex = xnoise^2 * [t^4/4 t^3/2; t^3/2 t^2];

P = Ex;

cent1=0; %initialising

cent2=0;%initialising

cent=[0;0];%initialising

velx1=0;%initialising

vely1=0;%initialising

start(vid)%initialising

while(vid.FramesAcquired<=framesneeded)

RGB=getsnapshot(vid); %getting snapshot

R=RGB(:,:,1); %taking R

R=fliplr®;

G=RGB(:,:,2);

G=fliplr(G);

B=RGB(:,:,3);

B=fliplr(B);

RGB=cat(3,R,G,B);

R=single®-(single(B)/2+single(G)/2); %Extracting R

R=uint8®;

bw=R>40; %taking objects grater than the value

bw=medfilt2(bw,[3 3]); % filtering

bw=bwareaopen(bw,20); %removing objects less than 2o pixels area

bw=bwconncomp(bw,8);

stats=regionprops(bw,'CENTROID','Area','Perimeter'); %stats of the certain region properties

imshow(RGB)

hold on

if length(stats)>1

if ((([stats.Perimeter].^2) / (4 * pi * [stats.Area]))>0.8) cent=stats(1).Centroid; % logic here is to identify a circular object

end velx=(cent1-cent(1))^2; %calculating velocity

vely=(cent2-cent(2))^2;%calculating velocity

cent1=cent(1);

cent2=cent(2);

vel=(((velx)+(vely))^0.5)/20; %calculating velocity (20 is the default fps)

ax=abs((velx-velx1)/20);%calculating acceleration

ay=abs((vely-vely1)/20);%calculating acceleration=

velx1=velx;

vely1=vely;

a=((ax^2)+(ay^2))^0.5;%calculating acceleration

x=(A*(cent)')+(D*a);%kalman equations

z=(C*(x))+Ez;%kalman equations

P=(A*P*A')+Ex;%kalman equations

K=(P*C'*(inv((C*P*C')+Ez)));%kalman equations

x=x+(K*((z)-(C*x)));%kalman equations

P=(eye(2)-K*C)*P;%kalman equations

x=x';

plot(x(1),x(2),'r+','MarkerfaceColor','r','markerSize',20);% plotting

plot(cent(1),cent(2),'g+','MarkerfaceColor','g','markerSize',20);

t=text(cent(1)+15,cent(2), strcat('X:', num2str(round(cent(1))), 'Y:', num2str(round(cent(2)))));

hold off

flushdata(vid);

end

end

Answer 1

[Image Analyst]

Maybe just use some code that someone else uploaded, such as http://www.mathworks.com/matlabcentral/fileexchange/28757-tracking-red-color-objects-using-matlab

Tracking red objects must be a staple in the image processing courses these days since we see this asked so often.

[Sri]

That is right .....I want to know about the kalman filer as to where my logic is wrong