Research on Target Tracking Algorithm of Micro-UAV Based on Monocular Vision

Abstract

Aiming at the problem of limited payload and endurance of micro-UAV, the target tracking algorithm based on monocular vision is proposed. Since monocular vision cannot directly measure distance between the UAV and the target, triangulation and triangle similarity are used to calculate the distance information. Then, a target tracking method based on Kalman filter and KCF is designed. The tracking result of KCF is modified by Kalman filter to solve the problem of target occlusion. Finally, the position of the target in the world coordinate system is calculated through the coordinate transformation matrix, which is used to control the UAV for tracking the moving target. In order to verify the feasibility of the algorithm, target size estimation and target tracking algorithms are carried out. The experimental results show that the proposed algorithm can track the moving target effectively under the condition of short-term occlusion.