| 基于ArUco Marker 及稀疏光流的动态目标实时跟踪技术 |
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| 引用本文： | 邓文尧,段学超,靖明阳.基于ArUco Marker 及稀疏光流的动态目标实时跟踪技术[J].电子机械工程,2021,37(1):59-64. |
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| 作者姓名： | 邓文尧 段学超 靖明阳 |
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| 作者单位： | 西安电子科技大学电子装备结构设计教育部重点实验室,陕西西安710071;西安电子科技大学电子装备结构设计教育部重点实验室,陕西西安710071;西安电子科技大学电子装备结构设计教育部重点实验室,陕西西安710071 |
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| 摘 要： | 文中提出了一种基于ArUco marker及稀疏光流的动态目标跟踪方法，将ArUco marker与稀疏光流相结合实现动态跟踪，并改善双目匹配的精度。在具体实施过程中，基于检测到的ArUco marker标记进行旋翼无人机的动态跟踪，同时利用双目视觉系统测量并计算ArUco marker在相机坐标系下的相对坐标；然后通过平面拟合得出目标的实时位姿；最后开展了无人机抓捕实验，验证了ArUco marker结合稀疏光流动态目标跟踪方法的有效性。
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| 关 键 词： | ArUco marker 稀疏光流 手眼标定 双目视觉 |
Dynamic Target Real-time Tracking Technology Based on ArUco Marker and Sparse Optical Flow |
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| DENG Wenyao,DUAN Xuechao,JING Mingyang.Dynamic Target Real-time Tracking Technology Based on ArUco Marker and Sparse Optical Flow[J].Electro-Mechanical Engineering,2021,37(1):59-64. |
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| Authors: | DENG Wenyao DUAN Xuechao JING Mingyang |
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| Affiliation: | Key Laboratory of Electronic Equipment Structure Design, Ministry of Education of China, Xidian University |
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| Abstract: | A dynamic target tracking scheme based on ArUco marker and sparse optical flow is proposed in this paper. ArUco marker is combined with sparse optical flow to improve the accuracy of target detection and the matching error of binocular stereo matching. First the detected ArUco marker is used for dynamic tracking of an Unmanned Aerial Vehicle (UAV). Meanwhile, the binocular vision system is used to measure and calculate the relative coordinates of ArUco marker in the camera coordinate system. Then the plane fitting is conducted in order to obtain the real-time position and orientation of the mobile target. Finally the dynamic tracking scheme of ArUco marker combined with sparse optical flow is verified through the UAV capture experiment. |
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| Keywords: | ArUco marker sparse optical flow hand-eye calibration stereo vision |
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