Unmanned boat target tracking method based on visual feedback

A target tracking and visual feedback technology, applied in the field of unmanned boat navigation, can solve the problems of poor anti-disturbance ability, low calculation accuracy and slow response speed.

Inactive Publication Date: 2018-10-12
HARBIN ENG UNIV
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  • Summary
  • Abstract
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Problems solved by technology

[0004] The purpose of the present invention is to propose an unmanned ship target tracking method based on visual feedback in order...

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  • Unmanned boat target tracking method based on visual feedback
  • Unmanned boat target tracking method based on visual feedback
  • Unmanned boat target tracking method based on visual feedback

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specific Embodiment approach 1

[0022] Specific embodiment one: a kind of unmanned ship target tracking method based on visual feedback comprises the following steps:

[0023] Such as figure 1 As shown, a kind of unmanned ship target tracking system based on visual feedback of the present invention uses the camera installed in front of the unmanned ship as a feedback element to feed back the captured real-time target image to the processor on the unmanned ship. Image processing, tracking the target and calculating the real-time position of the target. The processor calculates the deviation between the target position and its own position, and realizes the target tracking task through the motion control unit.

[0024] Step 1: Use the KCF (Kernel Correlation Filter) tracking algorithm to detect and track the tracking target, and determine the position coordinates of the tracking target;

[0025] Step 2: Establish the corresponding relationship between the pixel coordinate system and the tracking target in th...

specific Embodiment approach 2

[0028] Specific embodiment two: the difference between this embodiment and specific embodiment one is that in the step one, the tracking target is detected and tracked using the KCF tracking algorithm, and the specific process for determining the position coordinates of the tracking target is:

[0029] During the training process, the selected tracking target area is sampled, the tracking target area is used as a positive sample, and the background area is used as a negative sample to extract HOG (Histogram of Oriented Gradients) features, and the positive and negative samples are input into the ridge regression classifier Carry out training; in the detection process, the target area of ​​the video frame is taken as the center, and the target area is sampled, and the obtained samples are classified by the trained ridge regressor, and the ridge regressor outputs the position of the target area, and the KCF tracking algorithm adopts The circular matrix generates samples, which ca...

specific Embodiment approach 3

[0031] Embodiment 3: The difference between this embodiment and Embodiment 1 or 2 is that the specific process of establishing the corresponding relationship between the pixel coordinate system and the tracking target in the world coordinate system is as follows:

[0032] A visual feedback-based unmanned ship target tracking system of the present invention, its target positioning algorithm combines the depth positioning with the horizontal horizontal positioning method through the monocular vision model, and establishes the point (u, v) under the pixel coordinate system ) and the mapping relationship between the position coordinates (X, Y) in the world coordinate system.

[0033] Establish the mapping relationship between the point (u, v) in the pixel coordinate system and the position coordinates (X, Y) in the world coordinate system;

[0034] Such as image 3 As shown, the focal length of the camera is f, O 1 M is the optical axis position of the camera, the optical center...

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Abstract

The invention relates to an unmanned boat target tracking method based on visual feedback in order to solve the problems that existing methods are complicated, the response speed is low, the operationprecision is low and the anti-disturbance capability is poor. The method includes the steps that 1, a KCF tracking algorithm is used for detecting and tracking a tracking target, and a position coordinate of the tracking target is determined; 2, a correspondence relationship, between a pixel coordinate system and a world coordinate system, of the tracking target is established, and a coordinate of the tracking target in the world coordinate system is obtained; 3, an unmanned boat processor calculates the deviation between the position of the tracking target and the position of the unmanned boat processor, sends a command to a motion control unit for conducting control and adjusts the rudder angle of an unmanned boat steering gear and the rotation speed of a propulsion motor to keep the tracking target at the center of a view field of a camera and to keep an unmanned boat and the tracking target within a set distance range, and that is to say that an unmanned boat motion control systemachieves tracking navigation on the target. The unmanned boat target tracking method based on visual feedback is used in the field of unmanned boat navigation.

Description

technical field [0001] The invention relates to the field of unmanned boat navigation, in particular to an unmanned boat target tracking method based on visual feedback. Background technique [0002] The unmanned surface vehicle (USV) can navigate independently, plan the track independently, have a certain perception ability to the surrounding environment, and can realize functions such as target recognition and tracking, and autonomous obstacle avoidance. When the surface unmanned vehicle is applied to the navy, it needs to have capabilities such as maritime security, mine countermeasures, electronic warfare, maritime interception, anti-submarine warfare, surface warfare, and military support. Compared with the land and sky environment, surface unmanned vehicles are faced with harsher conditions, thus improving the environmental perception and visual perception capabilities of unmanned vehicles, which will greatly improve the self-operation ability and safety of surface unm...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 曾薄文赵洋段涛项伯贵刘庭瑞
Owner HARBIN ENG UNIV
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