三角计算和BACF跟踪算法的无人机距离和高度计算方法

UAV Distance and Altitude Calculation Method Based on Trigonometric Calculation and BACF Tracking Algorithm

针对反无人机拍摄场景中摄像头水平放置与倾斜放置的两种情况,提出了基于视觉的对于特定无人机目标的三角计算测高测距算法。使用稳健性高的尺度跟踪BACF算法对目标进行跟踪并计算目标的成像宽度和高度。根据已知目标尺寸、摄像头焦距、俯仰角等参数对无人机与摄像头的实际距离进行估测。实验结果为:处理速度超过45 frame/s,满足实时性要求,并且平均相对误差为5%。应用所提算法可实现对无人机目标进行跟踪的同时评估出目标距离摄像头的高度与距离。

Aiming at the two situations of camera horizontal placement and inclined placement in anti UAV shooting scene,a video triangulation algorithm for distance and height measurement is proposed.The robust scale tracking BACF algorithm is used to track the target and calculate the imaging width and height of the target.According to the known target size,camera focal length,pitch angle and other parameters,the actual distance between UAV and camera is estimated.The experimental results show that the processing speed is more than 45 frames per second,and the average relative error is 5%.The proposed algorithm can be used to track the UAV target and evaluate the height and distance between the target and the camera.