Dynamic target real-time tracking method and device of autonomous inspection unmanned aerial vehicle

• Main Authors: CHEN QINGCHENG, DONG WEI
• Format: Patent
• Language: Chinese; English
• Published: 08.03.2024
• Subjects: CALCULATING; COMPUTING; COUNTING; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; PHYSICS

The embodiment of the invention provides a dynamic target real-time tracking method and device for an autonomous inspection unmanned aerial vehicle, and the method comprises the steps: obtaining an image below the unmanned aerial vehicle; according to the obtained image below the unmanned aerial vehicle, tracking object identification is carried out through YOLOv5 and KCF algorithms, and a target image is obtained; coordinate system code conversion is carried out, the relative motion state of the target in the image is converted into motion in a world coordinate system, and unmanned aerial vehicle speed control information is obtained; and publishing the unmanned aerial vehicle speed control information through an ROS operating system, and subscribing the unmanned aerial vehicle speed control information through a flight control program to realize tracking motion of the unmanned aerial vehicle. 本说明书实施例提供了一种自主巡检无人机的动态目标实时跟踪方法及装置，其中，方法包括：获取无人机下方图像；根据获取的无人机下方图像，通过YOLOv5和KCF算法进行跟踪对象识别，得到目标图像；进行坐标系代码转换，将所述目标在图像中相对