Research on Target Tracking System of Quadrotor UAV Based on Monocular Vision

被引：0

作者：

Shao, Yanhua ^{[1
]}

Tang, Xianfeng ^{[1
]}

Chu, Hongyu ^{[1
]}

Mei, Yanying ^{[1
]}

Chang, Zhiyuan ^{[1
]}

Zhang, Xiaoqiang ^{[1
]}

Zhan, Huayi ^{[2
]}

Rao, Yunbo ^{[3
]}

机构：

[1] Southwest Univ Sci & Technol, Sch Informat & Engn, Mianyang, Sichuan, Peoples R China

[2] Northwestern Univ, Elect Engn & Comp Sci, Evanston, IL USA

[3] Univ Elect Sci & Technol China, Sch Informat & Software Engn, Chengdu, Peoples R China

来源：

2019 CHINESE AUTOMATION CONGRESS (CAC2019) | 2019年

基金：

中国国家自然科学基金;

关键词：

quadrotor UAV; target tracking; OpenMV; centroid tracking algorithm;

D O I：

10.1109/cac48633.2019.8996417

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

To solve the problem with complex structure and low resource utilization of traditional target tracking UAV system based on visual guidance, this paper discusses an implementation method of quadrotor UAV target tracking system based on OpenMV. This system mainly includes flight control system and visual guidance system. TM4C123GH6PMI was selected as the control unit for flight control system. Six-axis motion sensor and digital magnetometer were combined into the pose measurement module. And ultrasonic sensor was selected to get the altitude information for drone. This system took OpenMV as the visual guidance system for target detection and position. For the real-time and accuracy requirements of the tracking system, the centroid-based tracking algorithm was used for calculating and resolving the target. The experiment results show that the system is stable and reliable.

引用

页码：4772 / 4775

页数：4

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