Design and Implementation of UAV Vision Tracking System

Abstract

Abstract. UAV is increasingly popular in the field of military, civil and scientific research, since its low loss, strong adaptability and high mobility. This paper introduces the design and implement of the visual tracking system based on the rotor UAV, and gives the UAV a function of continuous and stable tracking of the ground target. Based on the standard Mean Shift algorithm, we introduce the improved object tracking algorithm with the spatial histogram and scale estimation. The robustness to scale adaptive and background related interference is improved with the enhanced tracking algorithm. It is finally implemented in our image processing board with TMS320C6657 and ZYNQ 7020. The whole system is optimized and accelerated by both of the two core of DSP. We finally achieve the real-time tracking and monitoring of the ground target in the range of 100m ~ 1km.