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Visual target tracking method and system for unmanned aerial vehicle

A UAV and target technology, applied in computer parts, instruments, calculations, etc., can solve the problems of complex feature matching calculation, high feature description dimension, complex feature calculation process, etc. Effect

Active Publication Date: 2015-09-09
深圳市易恬技术有限公司
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  • Description
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AI Technical Summary

Problems solved by technology

It has excellent target description ability, but the feature calculation process is complicated, the feature description dimension is high, and the feature matching calculation is complicated, so it is difficult to directly apply it to the UAV real-time following scene

Method used

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  • Visual target tracking method and system for unmanned aerial vehicle
  • Visual target tracking method and system for unmanned aerial vehicle
  • Visual target tracking method and system for unmanned aerial vehicle

Examples

Experimental program
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Embodiment 1

[0042] Example 1 please refer to image 3 , step B includes the following steps:

[0043] Step B11 , calculating the similarity between the color features of the first target area and the color features of the candidate target area by using Bhattacharyachian distance or a logarithmic linear function. Wherein, the color feature can be obtained from the RGB information of the image, and the process of obtaining the FAST corner feature of the candidate target area is the same as that of the first target area FAST corner feature.

[0044] At this time, the similarity between the FAST corner histogram of the first target area and the corner histogram of the candidate target area is redefined as:

[0045] w corner ∝ exp ( - D corner 2 2 σ corne...

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Abstract

The present invention is applicable to the technical field of unmanned aerial vehicles, and provides a visual target tracking method for an unmanned aerial vehicle. The method comprises the following steps: step A, conducting FAST angular point extraction for a first target region selected for tracking, generating a weighted FAST angular point histogram for the first target region, and calculating, according to the generated FAST angular point histogram, a FAST angular point feature similarity between the first target region and candidate target regions selected for tracking; step B, calculating a color feature similarity between the candidate target regions selected for tracking and the first target region, fusing the FAST angular point feature similarity and the color feature similarity, and using a candidate target region which has a highest similarity to the first target region according to the fusing result as a tracking result for the current target region. According to the present invention, the FAST angular point feature and the color feature are fused, thereby effectively using partial information and global information of the image, and thus reducing the impacts caused by a vehicle-mounted sensor to target state estimation.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a visual target following method and system of an unmanned aerial vehicle, which can be applied to follow and lock enemy targets in air combat, follow terrorist vehicles during urban anti-terrorism, and timely find and lock distressed persons during sea search and rescue , high-altitude operations, mine detection, etc. Background technique [0002] With the continuous advancement of technology, drones are gradually being used in many aspects. Many tasks of the UAV include the subtask of the UAV following the target. UAV visual target following mainly relies on the analysis of image feature information to provide reliable target information. In recent decades, UAV visual target following has made a series of progress, such as: Carnegie Mellon University Robot Institute O.Amidi et al proposed a real-time estimation of UAV movement state based on visua...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/46G06K9/62
CPCG06V10/50G06V10/56G06F18/23G06F18/25
Inventor 蒙山黄容
Owner 深圳市易恬技术有限公司
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