The invention discloses an unmanned aerial vehicle and a method and device for selecting a tracking target in image tracking. The method comprises the steps: transmitting an image collected by a camera in an unmanned aerial vehicle pod to a tracking control terminal in real time; judging whether a target tracking instruction sent by the tracking control end is received or not: if yes, controlling the pod to keep a current angle; calculating the moving angle of the camera in the pod at the current angle relative to the object in the image; controlling the nacelle to reversely rotate by the moving angle; and judging whether a tracking target image selected by the tracking control end in the images is received or not: if so, identifying the tracking target image to obtain a tracking target. According to the invention, the pod is controlled to adjust the rotation angle and counteract the relative rotation of the camera relative to the photographed object, so that the image is relatively stable, even if the unmanned aerial vehicle moves continuously and quickly, the object in the image cannot run away quickly, and the difficulty of selecting a tracking target is reduced.
本发明公开了一种无人机及图像追踪中选中追踪目标的方法和装置。其中方法包括:将无人机吊舱中摄像头采集的图像实时传输至追踪控制端;判断是否接收到所述追踪控制端发送的目标追踪指令,若是,则控制所述吊舱保持当前角度;计算当前角度的吊舱中所述摄像头相对于所述图像中物体的移动角度;控制所述吊舱逆向转动所述移动角度;判断是否接收到所述追踪控制端在所述图像中选中的追踪目标图像,若是,则识别所述追踪目标图像,得到追踪目标。本发明通过控制吊舱调整转动角度,抵消摄像头相对于拍摄物体的相对转动,使得图像相对稳定,即便无人机持续快速移动,图像中物体也不会迅速跑走,降低了选中追踪目标的难度。
Unmanned aerial vehicle and method and device for selecting tracking target in image tracking
无人机及图像追踪中选中追踪目标的方法和装置
2021-04-16
Patent
Electronic Resource
Chinese
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