旋翼无人机视觉跟踪系统
Visual tracking system of rotorcraft UAV
查看参考文献7篇
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文摘
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设计实现了一种基于PC104计算平台的旋翼无人机自动目标跟踪系统.该系统由机载视觉子系统,地面站子系统,无线通信子系统3个部分组成,构建了完整的空地,人机交互环路.采用基于背景权重的Mean Shift目标跟踪算法,能够有效减小复杂环境背景对目标跟踪的影响,可靠性高且算法复杂度低.在室内外环境下进行的实验测试结果表明:系统在目标跟踪过程中即使遇到相似目标干扰或大面积遮挡,仍能够准确地自动跟踪目标,利用目标在图像中的位置主动引导数字云台与其保持相同运动方向,使目标尽可能处于相机中心视场范围内,验证了系统的可靠性和实时性 |
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其他语种文摘
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Based on the platform of PC104,an automatic target tracking system of the rotorcraft unmanned aerial vehicle(UAV)was designed and implemented, which included visual airborne subsystem, ground station subsystem and wireless communication subsystem. A complete sky-land and human-computer interaction loop were constructed. Mean Shift tracking algorithm based on the background weight could reduce the impact of the complex background on the tracked target effectively. The algorithm was robust and with much lower complexity. Target tracking experiments were carried out in indoor and outdoor environments respectively, and the experimental results show that the visual tracking system can effectively track the targets, even encountering similar goals or be shaded with large scale. In the system, locations of the tracked target in the images can guide actively the digital PTZ, keeping the same moving target direction, and make the target in the center of the camera field as much as possible. The real-time and reliability of the visual tracking system are also proved by experiments |
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来源
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红外与激光工程
,2011,40(1):149-152 【核心库】
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关键词
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旋翼无人机
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视觉系统架构
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Mean Shift
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目标跟踪
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地址
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1.
中国科学院沈阳自动化研究所, 机器人学国家重点实验室, 辽宁, 沈阳, 110016
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大连水产学院, 辽宁, 大连, 116023
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语种
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中文 |
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文献类型
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研究性论文 |
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ISSN
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1007-2276 |
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学科
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自动化技术、计算机技术 |
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基金
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国家自然科学基金资助项目
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文献收藏号
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CSCD:4142259
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参考文献 共
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