Volume 36, Number 2, April 2018
|Page(s)||294 - 301|
|Published online||03 July 2018|
Real-time Detection and Tracking Method of Landmark Based on UAV Visual Navigation
School of Mechanical Engineering, Northwestern Polytechnical University, Xi'an 710072, China
2 School of Automation, Northwestern Polytechnical University, Xi'an 710072, China
3 National Key Laboratory of Special Technology on UAV, Northwestern Polytechnical University, Xi'an 710072, China
A real-time detection and tracking method of landmark based for UAV visual navigation and fixed landing was proposed. This method used the SVM classification algorithm to train the offline classifier based on SURF-BoW features extracted from samples, which can recognize the landing landmark accurately and complete the initialization of the tracker. Afterwards, tracked the landmark via the improved median flow algorithm to ensure the reliability and integrity of the tracking target. Finally, based on the classifier and the principle of similarity between two adjacent frames' target, this paper designed a target re-search algorithm to ensure that the target can be retrieved quickly even if the target is lost or the target tracking fails, which makes the entire set of algorithm track the target accurately for a long time. The experimental results show that the proposed algorithm has good tracking performance under the conditions of the change of target scale, illumination changes and motion blur.
Key words: median flow / context information / SURF-BoW features / visual navigation / real-time tracking
关键字 : 中值流跟踪算法 / 上下文信息 / SURF-BoW特征 / 视觉导航 / 实时跟踪
© 2018 Journal of Northwestern Polytechnical University. All rights reserved.
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