摘要
移动目标识别与跟踪,在视频监控、人机交互、智能交通、军事应用等领域具有重大应用价值。本文针对当前目标识别与跟踪领域普遍存在的处理速度较慢、实时性不足等问题,提出了一种基于Apriltags识别的改进算法,对移动目标进行局部搜索,并结合Kalman滤波器实时估计目标下一时刻在图像中的位置,大幅提升了算法处理速度和跟踪性能。本算法在大疆M100四旋翼无人机平台上,搭载Manifold机载计算机完成了实验测试。实验证明,算法鲁棒性强、稳定性好,成功实现了无人机对快速移动目标的识别与稳定跟踪。
Moving target recognition and trackinghas surveillance, human-computer interaction, intelligent a significant application value, in the field of video transportationandmilitary applications. In order to solve with the problem of lowrecognition speedin the target recognition and tracking field, this paper presents an improved algorithm based on Aprihags recognition. It detects moving targetlocally with Kalman filter＇s real-time estimation of the target＇s 2D position in the image. It dramatically improves the algorithm processing speed and tracking performance. The algorithm is tested in the M100 UAV platform, which is equipped with Manifold. Experiments show that the algorithm has good robustness and good stability, and it successfully realizes the recognition and stable tracking of UAV for fast moving target.
出处
《电子设计工程》
2017年第17期31-35,共5页
Electronic Design Engineering
