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Method for realizing that rotor unmanned aerial vehicle tracks moving target based on vision

A technology with moving targets and unmanned rotors, applied in image data processing, instruments, calculations, etc., can solve problems such as insufficient real-time performance, and achieve the effect of fewer algorithm steps and improved real-time performance

Inactive Publication Date: 2017-07-14
THE THIRD RES INST OF MIN OF PUBLIC SECURITY
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Problems solved by technology

[0010] Aiming at the problem of insufficient real-time performance of the existing UAV tracking moving target technology, a new UAV moving target tracking technology is needed

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  • Method for realizing that rotor unmanned aerial vehicle tracks moving target based on vision
  • Method for realizing that rotor unmanned aerial vehicle tracks moving target based on vision
  • Method for realizing that rotor unmanned aerial vehicle tracks moving target based on vision

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[0034] In order to make the technical means, creative features, goals and effects achieved by the present invention easy to understand, the present invention will be further described below in conjunction with specific illustrations.

[0035] In view of the limitations of the existing UAV visual tracking for dynamic targets in the dynamic background, which has a large amount of calculation and insufficient real-time performance, it cannot meet the needs of rotor-type UAVs for visual tracking of dynamic targets. Based on the Kalman filter and histogram matching technology of geometric features, this scheme proposes a dynamic target tracking implementation scheme, which can ensure that the rotor UAV can accurately track ground moving targets in real time through machine vision.

[0036] The dynamic target tracking implementation provided by this program is mainly divided into three stages: tracking parameter calculation, Kalman filter prediction based on geometric features, and g...

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Abstract

The invention discloses a method for realizing that a rotor unmanned aerial vehicle tracks a moving target based on vision. The method comprises the following steps: calculating the geometric characteristic parameter of the target; predicting the moving object by using a Kalman filtering algorithm; and performing a grayscale histogram matching on the predicted target. Accordingly, the realization method greatly improves the tracking real-time performance of the rotor unmanned aerial vehicle, ensures that the rotor unmanned aerial vehicle can track the ground moving target in real time through machine vision, has few algorithm steps and few required computational resources, and is suitable for the environment of the rotor unmanned aerial vehicle.

Description

technical field [0001] The invention designs an image processing technology, and in particular relates to a UAV moving target tracking technology. Background technique [0002] Due to the advantages of simple structure, low cost, and easy operation, rotary-wing drones have been widely used in the civilian market. Video surveillance is the most extensive task load carried by rotary-wing drones. With the expansion of applications, the need to track ground moving targets based on UAVs has emerged, such as UAVs tracking ground moving vehicles. At present, there are mainly two scenarios, and the corresponding technical routes are also inconsistent. For the cooperation type, the signal of position coordinates can be collected in the ground vehicle configuration, and sent to the flight control through the flight control link to realize tracking. For the non-cooperative type, it mainly relies on the vision of the UAV for follow-up shooting, but this kind of tracking is to dynamica...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/292G06T7/207
CPCG06T2207/10016
Inventor 唐前进刘泽坤梅林
Owner THE THIRD RES INST OF MIN OF PUBLIC SECURITY