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A long-term stable UAV target tracking method

A target tracking and UAV technology, applied in the field of long-term stable UAV target tracking, can solve the problem of tracking target loss

Active Publication Date: 2020-10-23
西安因诺航空科技有限公司
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  • Application Information

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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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Embodiment Construction

[0071] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0072] A long-term stable UAV target tracking method provided by the present invention, the initial tracking target frame is input and optimized through user interaction, and a tracking model based on correlation filtering and target loss recovery based on a random forest classifier are established module to realize a long-term stable UAV target tracking method.

[0073] Such as figure 1 As shown, the unmanned target tracking control system provided by the present invention includes a gyroscope, an accelerometer, a barometer, a cloud platform, a camera, a flight control module, a communication module and an airborne computing unit; wherein, the gyroscope, the accelerometer, and the barometer , gimbal, flight control module and communication module are all connected to the on-board computing unit, and at the same time, the gimbal control is c...

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Abstract

A long-term stable UAV target tracking method provided by the present invention includes a method of selecting and optimizing an initial tracking target frame according to user interaction; a method of calculating a tracking target response graph according to a correlation filtering algorithm; and performing quality evaluation and spatial analysis based on the response graph. The method of positioning and determining the position of the tracking target; the method of judging the success / failure of the tracking result based on the perceptual hash algorithm; the method of global loss retrieval of the lost target based on the random forest classifier. The tracking method provided by the present invention can carry out long-term stable tracking of the target under the conditions of illumination changes, scale changes, dynamic scenes, and local / global occlusion, and can be applied to a variety of different scenes and platforms, so the present invention has strong stability, It has the advantages of good real-time performance and strong anti-interference ability.

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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06K9/00G06K9/62G05D1/12G06T3/40
CPCG05D1/12G06T3/4007G06T2207/10016G06V20/13G06F18/217G06F18/24
Inventor 马可雍旭东韩姣姣
Owner 西安因诺航空科技有限公司
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