基于双目视觉的自动跟踪系统设计

Design of Automatic Tracking System Based on Binocular Vision

设计了一种基于双目视觉的目标自动跟踪系统。该系统通过双目相机获取图像信息后,先利用Yolov5s实时检测算法快速识别目标,再利用核相关滤波法对目标进行跟踪,最后采用半全局立体匹配算法结合加权最小二乘法进行目标深度的测量,获取距离信息和位置。根据目标位置控制系统的速度和方向,使系统与目标保持相对方位和设定的距离,实现自动跟踪。从结果上看,采用了该系统的拍摄机器人可以执行危险任务,解决安全问题。

An automatic target tracking system based on binocular vision was designed.After the image information was acquired by the binocular camera of the system,the Yolov5s real-time detection algorithm was used to quickly identify the target,the kernel correlation filtering method was used for target tracking,and finally the semi-global stereo matching algorithm combined with the weighted least squares method was used to measure the target depth to obtain distance information and location.After the position of the target was obtained,the speed and direction of the system were controlled,so that the system could maintain the relative orientation and set distance from the target,and realize automatic tracking.From the results,robots could replace reporters to perform real-time tracking reports of dangerous tasks,solving the safety problems of reporters.