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| Research on Target Tracking Algorithm of the Quadrotor Aircraft Based on Monocular Vision |
| ZHANG Li-guo1,LI Xiao-song1,XIAO Lei2,JIN Mei1,DONG Hao2 |
1. Measurement Technology and Instrumentation Key Lab of Hebei Province, Yanshan University, Qinhuangdao, Hebei 066004, China
2. Hebei Automation Technical Research Institute, Shijiazhuang, Hebei 050000, China |
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Abstract Taking AR.drone four-rotor aircraft as a research platform, a method based on AR.drone front-end monocular camera and Calman filter is proposed to track moving target in video. The RGB image obtained through color space conversion paired illumination changes HSV image is on the image by OpenCV,the OpenCV of image denoising for target tracking in the video images is used, and then detect and find the largest contour of targets in images and use the Kalman filter to modify the target location. Then the flight direction of the quadrotor is calculated to realize the tracking of the moving target in the video area of the quadrotor. The experimental results show that this method is effective for moving target tracking accuracy, stability and rapidity.
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Received: 28 June 2016
Published: 12 April 2018
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Corresponding Authors:
Mei JIN
E-mail: meijin297@126.com
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2018, Vol. 39 
