An unmanned aerial vehicle target tracking method

Abstract

The invention discloses an unmanned aerial vehicle target tracking method, which comprises the following steps: (1) obtaining a left-eye image and a right-eye image by using a binocular camera image acquisition device; (2) calculating the position coordinates of the output UAV in the world coordinate system by the visual SLAM algorithm; (3) detecting the target in the panoramic image composed of the left-eye and the right-eye images, and calculating the three-dimensional coordinates of the output tracking target in the camera coordinate system; (4) taking the real-time position of the UAV in the world coordinate system and the real-time position of the tracking target in the camera coordinate system as the input of the speed control algorithm, and calculating the desired speed as the inputof the flight controller of the UAV to control the flight parameters of the UAV and realizing the target tracking. The method performs autonomous tracking through visual positioning while detecting targets, and is particularly suitable for tracking tasks in weak GPS or GPS-free environments.

Description

Technical field [0001] The invention relates to an unmanned aerial vehicle target tracking method, in particular to a visual tracking method based on binocular vision SLAM, and belongs to the technical field of autonomous navigation of an unmanned aerial vehicle. Background technique [0002] As UAV (Unmanned Aerial Vehicle, UAV) begins to play an increasingly important role in the industrial and agricultural fields, various new application requirements continue to emerge. How to realize that UAV follows moving targets on the ground has become unmanned One of the key technologies of the machine. Currently commonly used vision sensors mainly include monocular cameras, binocular cameras, RGB-D cameras, etc., but monocular cameras have scale uncertainty, and RGB-D cameras have limited effective measurement ranges and are not suitable for outdoor environments. The binocular camera can not only determine the scale information, estimate the real-scale UAV's own position and target coo...

AI Technical Summary

Problems solved by technology

[0003] In common target tracking methods, the visual sensor is only used for target detection, and the visual information is not fully utilized

Especially in an environment without GPS, the UAV cannot obtain its own position, so it cannot control the flight trajectory, it will lose control, and it will not be able to achieve target tracking

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