基于单目摄像机的无人机动态目标实时跟踪  

作　　者：辛长浩 常玉克 赵宏智 张彬 

机构地区：[1]北京工业大学

出　　处：《科技创新与应用》2020年第8期46-48,共3页Technology Innovation and Application

摘　　要：文章针对四旋翼无人机与动态目标组成的系统协同作业的任务,研究四旋翼无人机与动态目标的目标识别和目标跟踪问题。设计由单目相机、视觉计算机(树莓派3B)和飞行控制系统组成的自主跟踪控制系统框架,利用Camshift运动目标识别算法对目标位置进行识别并预测动态目标运动轨迹,通过Mavlink协议将无人机的位置信息实时发送给飞行控制系统,从而控制无人机进行动态目标跟踪。实现无人机对动态目标的目标识别,目标跟踪。Aiming at the task of cooperation between four-rotor UAV and dynamic target,this paper studies the target recognition and tracking of four-rotor UAV and dynamic target.An autonomous tracking control system framework is designed,which is composed of a monocular camera,a vision computer(raspberry pie 3B)and a flight control system.The Camshift moving target recognition algorithm is used to identify the target position and predict the dynamic target trajectory.The position information of the UAV is sent to the flight control system in real time through the Mavlink protocol,so as to control the UAV for dynamic target tracking and realize the target recognition and target tracking of the UAV to the dynamic target.

关 键 词：四旋翼无人机 动态目标 目标跟踪 

分 类 号：V279[航空宇航科学与技术—飞行器设计]