Long-time stable unmanned aerial vehicle target tracking method

Abstract

The invention provides a long-time stable unmanned aerial vehicle target tracking method. The method comprises a method of selecting and optimizing an initialized tracking target box according to user interaction, a method of calculating a response diagram of a tracking target according to a relevant filtering algorithm, a method of performing quality evaluation and spatial positioning according to the response diagram to determine the position of the tracking target, a method of performing tracking success / failure judgment on a tracking result according to a perception Hash algorithm and a method of performing global loss finding on a lost target according to a random forest classifier. Through the tracking method, long-time stable tracking can be performed on the target under the conditions of illumination changes, scale changes, dynamic scenes and local / global sheltering, meanwhile, the tracking method can be applied to multiple different scenes and platforms, and therefore the tracking method has the advantages of being high in stability, good in real-time performance, high in anti-interference capability and the like.

Description

technical field [0001] The technical field of unmanned aerial vehicle application relates to a long-term stable unmanned aerial vehicle target tracking method. Background technique [0002] Long-term target tracking is a key technology in the field of computer vision, and has important applications in the fields of surveying and mapping, control, and military affairs. At the same time, it involves a number of core technologies in the field of computer vision, such as image processing, pattern recognition, automatic control, etc. It is a comprehensive technology. [0003] When UAVs are used to observe the ground in the air, it is often necessary to pay continuous attention to specific targets during the flight. In the process of target tracking, due to the movement of the target and the movement of the UAV itself, the target often moves beyond the field of view of the image acquired by the UAV or is partially or globally blocked by obstacles, resulting in the loss of the tra...

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Problems solved by technology

[0004] The purpose of the present invention is to provide a long-term stable UAV target tracking method, which solves the problem that the existing target often moves beyond the image field of view acquired by the UAV or is partially or globally blocked by obstacles, resulting in the loss of the tracking target. The phenomenon

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