An unmanned aerial vehicle target tracking method

A target tracking and UAV technology, applied in the field of UAV autonomous navigation, can solve the problems of uncontrollable flight trajectory, loss of control, UAV unable to obtain its own position, etc., to achieve the effect of autonomous tracking and expanding search range

Inactive Publication Date: 2019-01-11
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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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 environmen

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  • An unmanned aerial vehicle target tracking method
  • An unmanned aerial vehicle target tracking method
  • An unmanned aerial vehicle target tracking method

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[0044] The technical solution of the present invention will be further described below in conjunction with the drawings and embodiments.

[0045] Such as figure 1 As shown, a UAV target tracking method, which locates the position of the UAV through visual SLAM while detecting the target, realizes the autonomous tracking of the UAV, including the following steps:

[0046] (1) The binocular camera image acquisition device obtains the left eye image I l And right eye image I r , As the input of visual SLAM algorithm and target detection algorithm.

[0047] (2) The visual SLAM algorithm calculates and outputs the position coordinates of the drone in the world coordinate system

[0048] (3) Target detection, target detection is performed in the panorama image of the left eye and right eye images, and the three-dimensional coordinates of the tracking target in the camera coordinate system are calculated and output

[0049] (4) The real-time position of the drone in the world coordinate sys...

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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...

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Application Information

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IPC IPC(8): G06T7/50G06T7/73G06T7/246G06T3/40G06K9/62
CPCG06T3/4038G06T7/246G06T7/50G06T7/73G06F18/22
Inventor 刘阳王从庆李翰
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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