基于二自由度转台的双目视觉跟踪技术研究

The research on binocular vision tracking technology based on two degrees of freedom turntable

为了对室内无人机进行辅助定位,文中设计了一套低成本且便携的基于二自由度转台的双目视觉跟踪随动系统。首先把两个摄像头分别置于二自由度转台上,通过双摄像机标定原理对相机进行标定。然后利用Kernel Correlation Filter(KCF)核相关滤波算法对目标进行跟踪,该算法通过对岭回归分类器的反复训练来完成对目标的跟踪。利用双目测距原理得到目标在三维空间的位置。由单片机发出PWM信号控制转台转动,大大提高了对目标的跟踪范围,实现了双摄像机对跟踪目标较为精确的测距,摆脱了以往单个摄像头在视频跟踪系统中的局限性,并且通过实验验证了该系统的有效性。

Low cost and portable target visual tracking servo system based on the two degree of freedom turntable is designed in the essay in order to exercise the auxiliary positioning of the indoor unmanned aerial vehicle. First,two cameras,fixed on the two degree of freedom turntable respectively,are calibrated according to the camera calibration principle. Then,the target will be tracked through Kernel Correlation Filter algorithm. This process is completed by repeated training the ridge regression classifier. Thus the target＇s position in the three-dimensional space is measured by the binocular ranging principle. The singlechip sends out the PWM signal to control the turning of the turntable,substantially augmenting the tracking range and actualizing more accurate positioning of the tracked target by a dual camera. In this way,the limitation in the video tracking system caused by a single camera is avoided and the effectiveness of the system is verified through the experiment.