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Target tracking method used for unmanned aerial vehicle and device thereof

A technology for target tracking and unmanned aerial vehicles, which is applied in the field of target tracking methods and devices for unmanned aerial vehicles, and can solve problems such as difficulty in adapting to effective target tracking

Active Publication Date: 2016-03-16
湖南优象科技有限公司
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Problems solved by technology

[0011] The object of the present invention is to provide a target tracking method and device for unmanned aerial vehicles, which solves the problem that the existing target tracking methods are difficult to adapt to the environment where the man-machine, imaging sensor and moving target are all in motion. Technical Issues with Target Tracking

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  • Target tracking method used for unmanned aerial vehicle and device thereof
  • Target tracking method used for unmanned aerial vehicle and device thereof
  • Target tracking method used for unmanned aerial vehicle and device thereof

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Embodiment Construction

[0044] The accompanying drawings constituting a part of this application are used to provide further understanding of the present invention, and the schematic embodiments and descriptions of the present invention are used to explain the present invention, and do not constitute an improper limitation of the present invention.

[0045] The method provided by the invention can be used on various types of unmanned aerial vehicles. Especially for micro drones. A drone with a rotor with a weight of 1 to 2 kilograms, a load of less than 500 grams, and a flight time of about 20 minutes is called a micro drone.

[0046] see figure 1 , the unmanned aerial vehicle provided by the invention uses the target tracking method, comprises the following steps:

[0047] Step S100: Obtain the video image of the target to be tracked by the drone, and use the area containing the target as the target template;

[0048] Step S200: The video image is tracked by the MeanShift target tracker, and the ...

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Abstract

The invention provides a target tracking method used for an unmanned aerial vehicle and a device thereof. The target tracking method used for the unmanned aerial vehicle comprises the following steps that step S100: the video image of a target to be tracked is acquired via the unmanned aerial vehicle, and an area including the target acts as a target template; step S200: target tracking is performed on the video image via a Mean Shift target tracker and the obtained result is a first tracking result, and target tracking is performed on the video image via a random forest detector initialized according to the target template and the obtained result is a second tracking result; and step S300, appearance of the target in the first tracking result and the second tracking result is judged, and the result including the target acts as a target tracking result. The target tracking method used for the unmanned aerial vehicle comprises a detection step, compensation information is provided for the tracking result, and the tracker is reinitialized by the result of the detector especially under the condition that the tracker fails and the detector succeeds so that continued operation of the tracking system can be guaranteed, and accuracy of target tracking can be enhanced.

Description

technical field [0001] The invention relates to the technical field of image processing, in particular to a target tracking method and device for an unmanned aerial vehicle. Background technique [0002] In recent years, with the continuous improvement of automation technology, computer vision technology and other scientific and technological fields, drones have developed rapidly in military, industrial and civilian fields. As an important branch of UAV application technology, the target tracking technology of micro-UAV has broad application prospects in the field of national public security, such as anti-explosion and anti-terrorism, traffic monitoring, disaster relief, etc., and has attracted great attention from scholars from all over the world. One of the most active research directions in this field. [0003] The main purpose of target tracking is to calculate the two-dimensional coordinate position of the moving target on each frame of image by processing and analyzin...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/62
CPCG06F18/24133G06F18/214
Inventor 黄俊仁
Owner 湖南优象科技有限公司
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