基于AprilTags的UAV运动目标跟踪方法

UAV moving target tracking method based on AprilTags

为了提高无人机(Unmanned Aerial Vehicle,UAV)跟踪运动目标的精度与实时性,设计了UAV硬件结构,为了最大限度发挥UAV自带飞控的稳定性,提出了基于SBUS协议模拟遥控的四旋翼控制方法。在此基础上,针对当前目标跟踪算法普遍存在的实时性不足以及遮挡容易目标丢失等问题,提出了一种基于AprilTags识别的跟踪方案:无遮挡时跟踪Tag目标,有遮挡时跟踪Tag周围颜色特征,大幅提升了跟踪算法准确率并解决了遮挡问题。最后,将此方法应用于四旋翼无人机中完成实物实验。实验结果表明,该方法鲁棒性强、稳定性好,满足UAV对运动目标的识别和稳定跟踪要求。

In order to improve the accuracy and real-time performance of unmanned aerial vehicle (UAV) tracking moving target,this paper first designsa hardware structure of UAV.Then,to maintain the original stability of UAV,a quadrotor control method based on SBUS protocol and analog remote control is proposed.Moreover,for problems such as lack of real-time performance and easy to lose targets by occlusion,a tracking scheme based on AprilTags identification is presented.The scheme will track the Tag target when there is no occlusion,and track the color features around the Tag when there is occlusion,which greatly improves the accuracy of the tracking algorithm and solves the occlusion problem.Finally,the method is applied to an UAV to complete the physical experiment.Experimental results show that the method is robust and stable,which meets the UAV′s requirements foridentification and stable tracking of moving targets.