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Unmanned aerial vehicle to ground moving target detection method based on vision

A technology for moving targets and detection methods, applied in computer components, image data processing, instruments, etc., can solve problems such as high computational complexity and inability to describe the local characteristics of targets well

Active Publication Date: 2015-07-22
INST OF AUTOMATION CHINESE ACAD OF SCI
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Problems solved by technology

[0006] In order to achieve the above purpose, the present invention proposes to use color distribution comparison to remove the "ghost" existing in motion detection. The method calculates the defects of high complexity, proposes a mode mutual exclusion classifier with good adaptability and high efficiency, and uses it in the classification of "building / moving target" and "vehicle / pedestrian"

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  • Unmanned aerial vehicle to ground moving target detection method based on vision
  • Unmanned aerial vehicle to ground moving target detection method based on vision
  • Unmanned aerial vehicle to ground moving target detection method based on vision

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Embodiment Construction

[0021] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0022] The technical idea of ​​the present invention is to remove the "ghost" area by means of color distribution comparison; to weaken the influence of trees by establishing a vegetation model; Parallax interference such as objects. In order to achieve fast classification of image blocks, a pattern mutual exclusion classifier with good adaptability and high efficiency is proposed. This classifier uses structural patterns as the basic way to describe local features, and uses the mutual exclusivity of two types of object-specific patterns to establish classification. Based on the mutual exclusivity of the candidate area pattern and the environment pattern, the pattern participating in the classification is dynamically sele...

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Abstract

The invention discloses an unmanned aerial vehicle to ground moving target detection method based on vision. The method includes: utilizing feature extraction and matching to estimate interframe moving parameters; utilizing a color distribution and comparison mode to remove a 'ghost image' during movement detection; removing interference of trees by building a plant model; creating a mode mutex classifier, and classifying moving targets like 'buildings / moving targets' and 'vehicles / pedestrians' to further remove parallax interference of buildings so as to realize realtime unmanned aerial vehicle to ground moving target detection. The method does not relate to large-scale numerical value calculation and can meet needs on calculating complexity of small unmanned aerial vehicle to ground moving target detection.

Description

technical field [0001] The invention belongs to the technical field of image target detection, in particular to a vision-based method for detecting an unmanned aerial vehicle's ground moving target. Background technique [0002] Moving target detection is a basic problem in the field of pattern recognition and computer vision, and it is of great significance to improve the autonomy of UAVs in border patrol, regional situational awareness, visual guidance and other applications. Due to the mobility of small UAV platforms, the limitation of airborne resources, and the complexity of the target environment, moving target detection technology that can meet the needs of airborne processing is still a technical problem at home and abroad. [0003] Since Marr proposed the theory of computational vision, moving object detection has been highly concerned by academic circles at home and abroad. Among them, moving object detection under fixed cameras has been practically applied in urba...

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Application Information

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IPC IPC(8): G06K9/00G06K9/62G06T7/20
Inventor 朱承飞常红星李书晓兰晓松宋翼
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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