以AR.drone四旋翼飞行器为研究平台,提出一种基于AR.drone前置单目摄像头,并结合卡尔曼滤波跟踪视频中移动目标的方法.将采集得到的RGB图像经过颜色空间转换成对光照变化影响不大的HSV图像;通过OpenCV对视频中跟踪目标的图像去噪,对轮廓进行检测寻找图像中最大的轮廓目标,并通过卡尔曼滤波对目标位置进行修正;计算四旋翼飞行器的飞行朝向并实现四旋翼飞行器对视频区域里移动目标的跟踪.实验表明,该方法有效地实现了对移动目标跟踪的准确性、稳定性和快速性.%Taking AR.drone four-rotor aircraft as a research platform,a method based on AR.drone front-end monocular camera and Calman filter is proposed to track moving target in video.The RGB image obtained through color space conversion paired illumination changes HSV image is on the image by OpenCV,the OpenCV of image denoising for target tracking in the video images is used,and then detect and find the largest contour of targets in images and use the Kalman filter to modify the target location.Then the flight direction of the quadrotor is calculated to realize the tracking of the moving target in the video area of the quadrotor.The experimental results show that this method is effective for moving target tracking accuracy,stability and rapidity.
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