Unmanned aerial vehicle-mounted small target detection and positioning method and system under complex background

Abstract

The invention discloses an unmanned aerial vehicle-mounted small target detection and positioning method and system under a complex background. The method comprises the following steps: acquiring a video image of a small target and attitude data of an unmanned aerial vehicle and a holder; preprocessing the acquired video image through a multi-channel optimization adaptive guided filtering defogging algorithm; detecting the preprocessed video image by using a limited pixel target space-semantic information fusion detection algorithm to obtain a pixel position of a small target; performing association mapping on the pixel position of the small target in the video image and the geographic coordinate of the unmanned aerial vehicle by using a spatial multi-parameter pixel mapping geographic coordinate positioning algorithm to obtain the longitude, latitude and height of the small target in a geographic coordinate system; and displaying the small target in the unmanned aerial vehicle-mountedvideo image and the longitude, latitude and height of the small target in the geographic coordinate system in real time. According to the invention, real-time on-line accurate detection and positioning can be carried out on an unmanned aerial vehicle-mounted small target under a complex background.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a method and system for detecting and locating small targets carried by unmanned aerial vehicles under complex backgrounds. Background technique [0002] Small unmanned aerial vehicle (UAV) has the characteristics of low cost and convenient use, and is an ideal aerial platform to complete tasks such as ground target search and surveillance. However, the existing UAV positioning technology still has many defects, such as it is difficult to separate the object from the background in a complex background, resulting in low positioning accuracy; the imaging effect of long-distance targets is poor, and the pixels occupied by the target in the image There are few points, it is difficult to accurately identify the target, and it is impossible to achieve detection and positioning. [0003] In terms of algorithms, the existing positioning algorithms are relatively complex...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a method and system for detecting and locating unmanned aerial vehicles with small targets under complex backgrounds, so as to solve the problem that it is difficult to separate objects from the background under complex backgrounds in the prior art, resulting in low positioning accuracy; The imaging effect is poor, the target occupies fewer pixels in the image, it is difficult to accurately identify the target, and it is impossible to realize the technical problem of precise detection and positioning

Images