TARGET TRACKING METHOD AND SYSTEM FOR UNMANNED AERIAL VEHICLE, UNMANNED AERIAL VEHICLE GIMBAL, AND UNMANNED AERIAL VEHICLE - EHANG INTELLIGENT EQUIPMENT GUANGZHOU CO LTD

Title:

TARGET TRACKING METHOD AND SYSTEM FOR UNMANNED AERIAL VEHICLE, UNMANNED AERIAL VEHICLE GIMBAL, AND UNMANNED AERIAL VEHICLE

Document Type and Number:

WIPO Patent Application WO/2024/051574

Kind Code:

A1

Abstract:

The present invention relates to the technical field of unmanned aerial vehicles, and provides a target tracking method and system for an unmanned aerial vehicle, an unmanned aerial vehicle gimbal, and an unmanned aerial vehicle. After a target image is acquired, two confidence coefficient thresholds are first introduced; taking into account the characteristics of a tracker based on a correlation filter algorithm and deformation thereof of having a high tracking frame rate but being prone to lose track of a target and the characteristics of a tracker based on deep learning of having a low tracking frame rate but being not prone to lose track of a target, the two trackers work in conjunction with each other; and finally, tracking result confidence coefficients of different trackers are compared with the two confidence coefficient thresholds, and a final target tracking result is determined on the basis of comparison results. While the tracking frame rate is ensured, the problems of target loss and wrong tracking caused by fast target movement, temporary shielding, and the like are effectively solved, the visual target tracking capability is enhanced, and the frame rate and the accuracy are both achieved.

More Like This:

WO/2020/147348	TARGET TRACKING METHOD AND DEVICE, AND STORAGE MEDIUM
JP6930389	Image collectors, programs, and methods
JP7227145	Hybrid tracker system and method for match move

Inventors:

HU HUAZHI (CN)
HE WEIXIONG (CN)
HU HAISHENG (CN)

Application Number:

PCT/CN2023/116204

Publication Date:

March 14, 2024

Filing Date:

August 31, 2023

Export Citation:

Click for automatic bibliography generation Help

Assignee:

EHANG INTELLIGENT EQUIPMENT GUANGZHOU CO LTD (CN)

International Classes:

G06T7/246

Foreign References:

CN115526906A	2022-12-27
CN110398720A	2019-11-01
CN107767405A	2018-03-06
CN113344971A	2021-09-03
US20190114804A1	2019-04-18

Attorney, Agent or Firm:

YOGO PATENT AND TRADEMARK AGENCY LIMITED COMPANY (CN)

Download PDF:

View/Download PDF PDF Help

Previous Patent: CHARGING REMINDING METHOD AND DEVICE, AND VEHICLE

Next Patent: BATTERY MODULE AND BATTERY PACK