An infrared small unmanned aerial vehicle target detection and tracking method under a complex background

Abstract

The invention belongs to the field of infrared image processing, and relates to an infrared small unmanned aerial vehicle target detection and tracking method under a complex background. The method comprises the following steps of (S1) obtaining a training sample, and training a deep convolutional neural network as an unmanned aerial vehicle target detection network; (2) obtaining a to-be-detectedtarget image in real time, inputting the to-be-detected target image into the unmanned aerial vehicle target detection network in the step (1), and outputting an unmanned aerial vehicle target detection result; and (S3) tracking the unmanned aerial vehicle target output in the step (S2) by using a kernel correlation filtering rapid tracking method. According to the method, feature extraction is carried out by adopting the residual network based on batch regularization and random discarding, so that the training efficiency and the model robustness are improved. According to the method, the context features and the semantic features are fully combined, and multi-scale discrimination is carried out by using the multi-layer fusion feature map with fine granularity, so that the detection precision of a small target is effectively improved.

Description

technical field [0001] The invention belongs to the fields of machine vision, security monitoring and infrared image processing, relates to the design and training of a deep learning model, and realizes a method for detecting and tracking an infrared small UAV target under a complex background. Background technique [0002] With the continuous improvement of drone production and manufacturing technology in various countries in the world and the gradual reduction of the threshold for using drones, the scale, quantity and frequency of use of small civilian drones have greatly increased. Due to their low cost and the lack of effective drones in the industry Detection and countermeasures have made the problem of "black flying" of drones increasingly serious. Moreover, such small UAVs have the ability to mount dangerous objects such as explosions. In recent years, there have been many illegal intrusions of UAVs around the world, which not only caused serious harm to the personal ...

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Problems solved by technology

[0002] With the continuous improvement of drone production and manufacturing technology in various countries in the world and the gradual reduction of the threshold for using drones, the scale, quantity and frequency of use of small civilian drones have greatly increased. Due to their low cost and the lack of effective drones in the industry Detection and countermeasures make the problem of drone "black flying" more and more serious

Moreover, such small UAVs have the ability to mount dangerous objects such as explosions. In recent years, there have been many illegal intrusions of UAVs around the world, which not only caused serious harm to the personal privacy of citizens and the safety of life and property, but also caused serious damage to the military. The security of sensitive areas such as bases, large-scale assembly sites, nuclear power plants, and resident government departments has posed a great threat

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