Target tracking and locating for UAV based on binocular stereo vision
Author(s): ZHANG Liang, XU Jinfa
Pages: 27-31,53
Year: 2014 Issue: 24
Journal: Computer Engineering and Applications
Keyword: Unmanned Aerial Vehicle(UAV); binocular stereo vision; target tracking; locating;
Abstract: According to the problem of target tracking for UAV, a target tracking and locating algorithm based on Camshift algorithm and binocular vision is proposed. The left and right images from binocular camera are used to calculate the central interesting point of the target with Camshift algorithm. After the central interesting point is reconstructed, the relative position and yaw angle between UAV and target under the body coordinate system are got. Data is optimized with the kalman filter. The estimated data is used as the flight control system loopback input data to achieve the autonomous tracking of UAV. The result of the experiment shows that the error of the algorithm is little. This algorithm has strong stability and accuracy.
Pages: 27-31,53
Year: 2014 Issue: 24
Journal: Computer Engineering and Applications
Keyword: Unmanned Aerial Vehicle(UAV); binocular stereo vision; target tracking; locating;
Abstract: According to the problem of target tracking for UAV, a target tracking and locating algorithm based on Camshift algorithm and binocular vision is proposed. The left and right images from binocular camera are used to calculate the central interesting point of the target with Camshift algorithm. After the central interesting point is reconstructed, the relative position and yaw angle between UAV and target under the body coordinate system are got. Data is optimized with the kalman filter. The estimated data is used as the flight control system loopback input data to achieve the autonomous tracking of UAV. The result of the experiment shows that the error of the algorithm is little. This algorithm has strong stability and accuracy.
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