Unmanned aerial vehicle tracking method based on embedded platform

Abstract

The invention discloses an unmanned aerial vehicle tracking method based on an embedded platform. The problem that an occluded vehicle tracked by an unmanned aerial vehicle is lost in the prior art is solved. The method comprises the steps that 1 a vehicle classifier is trained and a map is marked; 2 an image is acquired, and a tracked target is initialized; 3 an image is acquired for target tracking; 4 the classifier is used to determine whether the target is occluded, and if so, the step 5 is carried out, otherwise the step 8 is carried out; 5 whether the target is in an occluded area of the map is determined, and if so, the step 6 is carried out, otherwise the step 7 is carried out; 6 target detection is carried out in the occluded area; the unmanned aerial vehicle hovers; and the step 9 is carried out; 7 the target location is predicted; 8 according to the target, the flight of the unmanned aerial vehicle is controlled; 9 whether the step is end is determined, and if so, tracking is ended, otherwise the step 3 is back. According to the invention, the occluded target can be detected and tracked; the tracking robustness is improved; and the method can be used to track vehicles on urban roads.

Description

technical field [0001] The invention belongs to the technical field of image processing, and further relates to a vehicle tracking method for an unmanned aerial vehicle, which can be used for vehicle tracking in complex environments on urban roads. Background technique [0002] In recent years, the UAV business has developed rapidly. Due to its simple structure, high flexibility, strong mobility, low cost, and easy to equip various sensors, it can hover and take off and land vertically in complex environments. The machine is an ideal platform to complete tasks such as target detection, target tracking, and monitoring. At present, UAVs have been applied in many target monitoring and tracking fields. [0003] UAV-based vehicle tracking is a typical application. UAV-based vehicle tracking can be used for fugitive hunting, aerial photography based on vehicle tracking, film shooting, etc., which has important practical significance. However, due to complex occlusions such as pe...

AI Technical Summary

Problems solved by technology

The disadvantage of this method is that the entire implementation scheme cannot effectively judge whether the target vehicle is lost. At the same time, although the Kalman filter is used to predict the possible position in the subsequent video after the target is lost, the operator still needs to find the target in the video frame, and automatic tracking cannot be realized.

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