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Target tracking method and device for unmanned aerial vehicle

A technology for target tracking and drones, which is applied in the field of target tracking methods and devices for drones, can solve problems such as difficulty in adapting to effective target tracking, achieve efficient real-time processing, and improve accuracy

Active Publication Date: 2018-10-23
湖南优象科技有限公司
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AI Technical Summary

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

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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 Mean Shift target tracker, and the...

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Abstract

The present invention provides a target tracking method and device for a UAV, comprising the following steps: Step S100: Obtain a video image of the target to be tracked by the UAV, and use the area containing the target as a target template; Step S200: Use Mean Shift The target tracker performs target tracking on the video image, and the obtained result is the first tracking result, and the video image is tracked by the random forest detector initialized according to the target template, and the obtained result is the second tracking result; step S300: determine the first Whether the target appears in the tracking result and the second tracking result, the result containing the target is the target tracking result. The target tracking method for unmanned aerial vehicles provided by the present invention includes a detection step, and provides compensation information for the tracking result, especially when the tracker fails and the detector succeeds, the tracker is re-initialized with the result of the detector to ensure that the tracking system The continued operation of the system improves the accuracy of target tracking.

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 Patents(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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