Fig. 6

The physical images of the proposed collision worm tracking method. (a) Manually mark the target point. (b) Particles are generated uniformly and updated in the bounding box of worm. (c) After the SCA and resampling stages, the particles aggregate in the worm body. (d) In the pre-collision stage, the particles continuously tracking worm. (e) In the in-collision stage, the particles tracking collision worm area. (f) The particles continuously tracking collision worm. (g) In the post-collision phase, the two worms are tracked separately. (h) Correct worm is determined based on the situational knowledge of the cultural algorithm. Among them, the blue cross represents the target point, the green rectangle is the bounding box of the target worm, and the red dot is the particle. The yellow and blue rectangles are the bounding box of the worms that have not been judged, and the yellow and blue dots are the corresponding particles. The scale bar in (a), (b), (c), (e), (g) and (h) is 2 mm, and the scale bar in (d) and (f) is 3 mm.