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旋翼无人机视觉跟踪系统
Alternative TitleVisual tracking system of rotorcraft UAV
范保杰; 朱琳琳; 崔书平; 李向军; 唐延东
Department机器人学研究室
Source Publication红外与激光工程
ISSN1007-2276
2011
Volume40Issue:1Pages:149-152
Indexed ByEI ; CSCD
EI Accession number20111313874981
CSCD IDCSCD:4142259
Contribution Rank1
Funding Organization国家自然科学基金资助项目(60805046)
Keyword旋翼无人机 视觉系统架构 Meanshift 目标跟踪 跟踪系统 跟踪算法 跟踪目标 地面站 可靠性 子系统
Abstract设计实现了一种基于PC104计算平台的旋翼无人机自动目标跟踪系统。该系统由机载视觉子系统、地面站子系统、无线通信子系统3个部分组成,构建了完整的空地、人机交互环路。采用基于背景权重的Mean Shift目标跟踪算法,能够有效减小复杂环境背景对目标跟踪的影响,可靠性高且算法复杂度低。在室内外环境下进行的实验测试结果表明:系统在目标跟踪过程中即使遇到相似目标干扰或大面积遮挡,仍能够准确地自动跟踪目标,利用目标在图像中的位置主动引导数字云台与其保持相同运动方向,使目标尽可能处于相机中心视场范围内,验证了系统的可靠性和实时性。
Other AbstractBased on the platform of PC104,an automatic target tracking system of the rotorcraft unmanned aerial vehicle(UAV)was designed and implemented,which included visual airborne subsystem,ground station subsystem and wireless communication subsystem.A complete sky-land and human-computer interaction loop were constructed.Mean Shift tracking algorithm based on the background weight could reduce the impact of the complex background on the tracked target effectively.The algorithm was robust and with much lower comp...
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/7252
Collection机器人学研究室
Corresponding Author范保杰
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国科学院研究生院
3.大连水产学院
Recommended Citation
GB/T 7714
范保杰,朱琳琳,崔书平,等. 旋翼无人机视觉跟踪系统[J]. 红外与激光工程,2011,40(1):149-152.
APA 范保杰,朱琳琳,崔书平,李向军,&唐延东.(2011).旋翼无人机视觉跟踪系统.红外与激光工程,40(1),149-152.
MLA 范保杰,et al."旋翼无人机视觉跟踪系统".红外与激光工程 40.1(2011):149-152.
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