中圖分類號： TP391.41
文獻標識碼： A
DOI： 10.19358/j.issn.2096-5133.2020.12.006
引用格式： 唐凱，張海濤，鄭建杰，等. 基于立體視覺的無人機動態目標實時跟蹤[J].信息技術與網絡安全，2020，39(12)：30-36.

Real-time tracking of UAV dynamic target based on stereo vision

Abstract： Aiming at the dynamic target tracking problem of small quadrotors, a continuous adaptive ellipse detection(Continuously Adaptive Ellipse Detector，CAED) algorithm for vehicle target positioning and a tracking control algorithm based on stereo vision are proposed. First of all, the image taken by the binocular camera obtains the pixel center point of the target through the CAED algorithm, and the effective estimation of the target position is realized by the principle of triangulation. Secondly, for the task of moving target tracking, two cascade PID four-rotor position and attitude control laws are designed and implemented. Finally, the image processing algorithm is combined with the quadrotor control on the quad-rotor, and test experiments are carried out to verify the detection and control method proposed in this paper.

Key words : target detection；quadrotor UAV；stereo vision；target tracking