Video moving object tracking method based on cumulative histogram particle filtering

The invention relates to a video moving object tracking method based on cumulative histogram particle filtering, which comprises the following steps of: firstly, calculating a color cumulative histogram of an object according to a detected object range; secondly, initializing particles; thirdly, reading a next frame of image and updating the object range; fourthly, calculating by taking a coordinate of each particle as a center point to obtain a a temporary cumulative histogram(histogram_ temp), then calculating the weight of each particle and carrying out weight normalization; fifthly, estimating a position of an object center point according to the weight obtained in the fourth step, then calculating to obtain a new object cumulative histogram(histogram_ new); sixthly, updating the cumulative histogram; seventhly, subjecting the particles to resampling by adopting a replacement selection algorithm; and eighthly, respectively dispersing the resampled particles in an x and a y directions to obtain corresponding new particles as the initial distribution for particles of the next frame. When the color of the moving object is similar with a background color, by adopting the method, tracking error can be reduced and the tracking precision is improved.