Visual tracking method for unmanned aerial vehicle and unmanned aerial vehicle having visual tracking function

Abstract

The invention relates to a visual tracking method for an unmanned aerial vehicle. The method comprises the following steps: S1, acquiring image information of a plurality of groups of tracked targetsthrough a camera of an unmanned aerial vehicle and then carrying out training by using the image information to obtain a tracking model of the tracked targets; S2, with a current tracking model, detecting the tracked target by the camera of the unmanned aerial vehicle and continuously acquiring the image information of the tracked target in real time; S3, adjusting the motion of the unmanned aerial vehicle according to the image information change of the tracked target; and S4, repeating the S2 and the S3 to realize visual tracking of the unmanned aerial vehicle on the target. In the S2, eachframe of image information obtained in real time is stored in a training set and a new tracking model is trained by using the image information in the training set; and when the frame number of the image information stored in the training set reaches a preset threshold, the new tracking model is used for replacing the original tracking model to obtain the current tracking model and the image information in the training set is removed.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicles, in particular to a visual tracking method for an unmanned aerial vehicle and an unmanned aerial vehicle with a visual tracking function. Background technique [0002] With the development and progress of science and technology, unmanned aerial vehicles (UAVs) have been widely used in social production and life. Civil UAVs usually have a camera to realize the function of aerial photography. It has the characteristics of small size, simple and compact structure, vertical take-off and landing, and flexible image acquisition. [0003] However, traditional UAVs can only be controlled by hand-held remote controllers. Due to the complexity of UAV flight control methods, higher requirements are placed on the operation level of UAV operators. At present, there are also some drones that can realize the function of intelligently tracking the target, but their tracking performance is not stable enoug...

AI Technical Summary

Problems solved by technology

[0003] However, traditional UAVs can only be controlled by hand-held remote controllers. Due to the complexity of UAV flight control methods, higher requirements are placed on the operation level of UAV operators.

At present, there are some drones that can realize the intelligent tracking function of the target, but the tracking performance is not stable enough, the accuracy is not high, and the target is easy to lose

Images