Algorithm of centerline extracted based on eigen decomposition of Hessian matrix

In the premise of stabilized tracking for the dynamic target, the centerline extracted is very important to the high accuracy of target location and real-time pose decision, because it is the major judging for target location. According to the Hessian matrixs geometric sense in differential geometry and the 2D feature of target in image, the method of centerline extracted based on eigen decomposition of Hessian matrix was proposed. On the basis of targets segmentation, the Hessian matrix with gray of target in image can be constructed by Euclidean transformation. And then the initial gather of center points can be gained by the eigen decomposition of Hessian matrix. Finally the centerline can be extracted after the bad points were rejected with RANSAC algorithm. In order to prove the availability of this method, with the evaluation index being set the simulation experiment was developed. The results show this method has obvious stability and veracity.