Human body detection and tracking method and device based on unmanned aerial vehicle mobile platform

A technology of human body detection and tracking device, which is applied in the field of long-term and stable human body tracking, can solve problems such as long-term stable tracking, achieve stable and effective tracking, achieve long-term, overcome jitter and occlusion effects

Active Publication Date: 2015-08-05
CHENGDU TOPPLUSVISION TECH CO LTD
View PDF6 Cites 30 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This method uses the traditional MeanShift algorithm and Kalman filtering method to track the target. When the target is blocked or jumps, this method cannot guarantee long-term stable tracking.
[0004] In summary, in the application of UAVs, there is currently no long-term, stable, and anti-occlusion tracking method for moving targets, especially non-rigid human targets.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Human body detection and tracking method and device based on unmanned aerial vehicle mobile platform
  • Human body detection and tracking method and device based on unmanned aerial vehicle mobile platform

Examples

Experimental program
Comparison scheme
Effect test

no. 1 example

[0033] Such as figure 1 , the first embodiment of the present invention includes the following steps:

[0034] Target selection: Before the tracking starts, the target human body needs to be selected. The selection method can be manual selection or automatic selection. Manual selection is to determine the target to be tracked by manually marking the video image returned by the UAV; automatic selection does not require manual intervention, and can be automatically selected by the machine through human detection, recognition algorithms and set rules. It can be realized on the machine or in the remote control terminal. It should be noted that target selection is not a necessary step for target detection and tracking, and target selection can also be achieved in other ways.

[0035] Human detector training: use the eigenvalues ​​of the human body to train the first recognition model to obtain a human detector.

[0036] In this embodiment, the feature values ​​of the human body...

no. 2 example

[0047] see figure 2 , this embodiment also adds a target human body retrieval step in the target human body detection step of the first embodiment: when the target human body disappears in the video frame captured by the drone because it is blocked or exceeds the camera field of view, use The Kalman filter predicts the area where the target body may appear in the next video frame according to the video frame captured before the target body is lost; when the next video frame is captured, the feature value of the object in the area is preferentially extracted, and then the feature value is sent to the human body detector, and the human body detector judges whether a human body is detected according to the characteristic value, and if so, further sends the characteristic value into the target human body recognizer, and the target human body recognizer judges whether the target is detected according to the characteristic value human body. The advantage of doing this is that afte...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a human body detection and tracking method and device based on an unmanned aerial vehicle mobile platform and belongs to the computer vision field. The technical key points of the method comprise a human body detector training step, a target human body recognizer offline training step, a target human body detection step and a human body tracking step, wherein the target human body detection step is characterized by receiving a current video frame shot by an unmanned aerial vehicle, extracting object characteristic value in the current video frame, sending the object characteristic value to a human body detector, the human body detector judging whether a human body is detected according to the characteristic value, and if so, further sending the characteristic value to a target human body recognizer, the target human body recognizer judging whether a target human body is detected according to the characteristic value, and if so, labeling the characteristic value and adding the characteristic value to a tracking list; and the human body tracking step is characterized by predicating position of the target human body in the next video frame according to the coordinate position of the target human body in the current video frame.

Description

technical field [0001] The invention belongs to the field of computer vision, and is a real-time target tracking method, especially a long-term and stable human body tracking method under the complex background of an unmanned aerial vehicle platform. Background technique [0002] Unmanned aircraft, referred to as "UAV" or "UAV" in English, is an unmanned aerial vehicle controlled by radio remote control equipment or its own program control device. Among the many application fields of UAVs, target tracking, especially the tracking of human body, has always been a difficult problem to be solved urgently. This is because the human body usually has a small image in the field of view of the optical imaging device of the drone, the resolution is not high, and it is non-rigid and irregular, and its appearance and outline change at any time; and the tracking target is in a complex ground scene In the background, there are problems such as poor contrast, occlusion, and stereoscopic ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/20
CPCG06T7/246G06T2207/10016G06T2207/20024G06T2207/30232
Inventor 徐一丹龙学军陆宏伟周剑
Owner CHENGDU TOPPLUSVISION TECH CO LTD
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap