舰船电子工程2024，Vol.44Issue(4)：41-45,56,6.DOI:10.3969/j.issn.1672-9730.2024.04.010
基于机载多相机的无人机移动目标实时跟踪
Real-time Moving Object Tracking of UAV Based on On-board Muitl-camera
王昱 1蔡华悦 1戴文君 2骆志刚1
作者信息
- 1. 国防科技大学计算机学院 长沙 410073
- 2. 中国人民解放军32526部队 无锡 214000
- 折叠
摘要
Abstract
Deploying real-time and efficient target tracking algorithms on unmanned aerial vehicle(UAV)is one of the re-search hotspots in the field of computer vision.This paper designs a single-target tracking model called SiamRPN-V3,which can run in real-time on the on-board processor and has a performance close to SiamRPN,and on the NVIDIA Jetson TX2,Siam-RPN-V3 improves the inference speed of SiamRPN from 14 FPS to 25 FPS.This paper also proposes a two-stage monocular ranging algorithm,which enables the UAV to track ground targets free from the height limitation.Meanwhile,a global field of view platform and a multi-camera switching strategy are implemented using four cameras to improve the tracking capability of fast-moving ground targets.关键词
无人机/单目标跟踪/SiamRPN/视觉伺服/NVIDIA Jetson TX2Key words
unmanned aerial vehicle/single object tracking/SiamRPN/vision servo/NVIDIA Jetson TX2分类
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王昱,蔡华悦,戴文君,骆志刚..基于机载多相机的无人机移动目标实时跟踪[J].舰船电子工程,2024,44(4):41-45,56,6.
