Real-time Moving Object Tracking of UAV Based on On-board Muitl-camera
WANG Yu
CAI Huayue
DAI Wenjun
LUO Zhigang
Abstract：Deploying real-time and efficient target tracking algorithms on unmanned aerial vehicle(UAV)is one of the re-search hotspots in the field of computer vision.This paper designs a single-target tracking model called SiamRPN-V3,which can run in real-time on the on-board processor and has a performance close to SiamRPN,and on the NVIDIA Jetson TX2,Siam-RPN-V3 improves the inference speed of SiamRPN from 14 FPS to 25 FPS.This paper also proposes a two-stage monocular ranging algorithm,which enables the UAV to track ground targets free from the height limitation.Meanwhile,a global field of view platform and a multi-camera switching strategy are implemented using four cameras to improve the tracking capability of fast-moving ground targets.
Keywords：unmanned aerial vehiclesingle object trackingSiamRPNvision servoNVIDIA Jetson TX2
Publication Date：2024-04-20
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：6( 41-45,56 )