Study on Target Tracking Commands of UAV PTZ Visual Systems Based on the Acquired Image after Pattern Recognition

This paper aims at investigating servo commands of the UAV PTZ vision system for target tracking. The comprehensive analyses of parameters influencing target tracking are developed in the UAV PTZ vision system originally, encompassing image, servo, and mechanical parameters. The holistic solutions are provided for accurate image target tracking after the target has been recognizes in the acquired image. The cases considered are that the rotation axes for pan and tilt are vertical. The servo commands of the target tracking for two kinds of the PTZ visual systems are characterized. An algorithm is also presented to calculate the servo commands for the target tracking of the PTZ gimbal visual system.