摘要
视觉目标跟踪是无人机对地面瞬时和时敏目标执行侦察、定位和打击任务的关键,面临着成像平台运动、严重遮挡、目标从视场中消失等困难。针对该问题,提出一种基于运动模型的无人机对地视觉目标跟踪方法。首先,采用基于稠密逆向搜索的快速光流算法计算相邻两帧之间的单应变换,将目标位置从历史帧映射到当前参考帧,以解耦成像平台运动。然后,在参考帧上采用线性运动模型对目标运动建模,当遮挡发生时利用运动模型预测目标位置。最后,采用短时和长时跟踪器结合的方法解决部分遮挡目标样本误更新跟踪器导致的跟踪漂移问题。以相关滤波跟踪器为基准,在收集的无人机视频上开展实验,结果表明所提方法能够显著提高对成像平台运动和严重遮挡的适应性,并且能够方便集成到其他目标跟踪方法中。
Visual target tracking is crucial for an unmanned aerial vehicle(UAV)to conduct a strike,location,and reconnaissance against moving and time-sensitive ground targets;however it is hindered by imaging platform motion,severe occlusion,and target disappearance from the field of vision.A visual ground target tracking approach based on a motion model for UAVs is proposed to enhance the robustness for these challenges.First,a fast optical flow algorithm based on the dense inverse search is used to compute the homography transformation between two consecutive frames,and the target position is mapped from the historical frame to the present reference frame to decouple the motion of the imaging platform.The target motion on the reference frame is then modeled using a linear motion model,which is used to predict the target position when occlusion occurs.Finally,short-term and long-term trackers are combined to solve the tracking drift generated by the false update of the tracker for partially occluded target samples.Based on the discriminative correlation filter,experiments were conducted on the collected UAV videos.The findings reveal that the proposed approach can substantially improve the adaptation to the imaging platform motion and severe occlusion,and can be easily combined with other target tracking approaches.
作者
苏昂
陆伟康
张仕林
李璋
Su Ang;Lu Weikang;Zhang Shilin;Li Zhang(College of Aerospace Science and Engineering,National University of Defense Technology,Changsha 410073,Hunan,China;Hunan Provincial Key Laboratory of Image Measurement and Vision Navigation,Changsha 410073,Hunan,China)
出处
《激光与光电子学进展》
CSCD
北大核心
2022年第14期233-241,共9页
Laser & Optoelectronics Progress
基金
国家自然科学基金(11727804)。
关键词
目标跟踪
运动模型
相关滤波
光流
无人机
target tracking
motion model
correlation filtering
optical flow
unmanned aerial vehicle
