Particle filter tracking method for adaptive adjustment of tracking window size

The invention discloses a particle filter tracking method for adaptive adjustment of tracking window size and is mainly used for solving the problem of real-time adaptive adjustment of a particle filter tracking window. The window adjustment method comprises the following steps of: firstly establishing a state transfer equation of a moving target under a particle filter tracking framework, and initializing a target state; then predicting a set of particles at the next moment by applying the state transfer equation, calculating likelihood function values of the particles and updating weights of the particles according to the likelihood function values of the particles, and calculating the average distance d between the particles with great weights and the center of the set of particles; and finally linearly changing the window size along with the value d to realize the adaptive adjustment of the tracking window. The particle filter tracking method realizes the adjustment of the particle filter tracking window