Research on target tracking of UAV based on improved Camshift algorithm

SHEN Si-yuan; LI Zhen-xiao; SUN Wei

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Research on target tracking of UAV based on improved Camshift algorithm

更新时间：2026-09-04

- Research on target tracking of UAV based on improved Camshift algorithm
- Vol. 36, Issue 11, Pages: 76-83(2019)
- 作者机构：
  
  中国矿业大学信息与控制工程学院,江苏,徐州,221008
- 作者简介：
- 基金信息：
- DOI：
  CLC：
- Published：2019
- 稿件说明：
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沈思源, 李震霄, 孙伟. 基于改进Camshift的无人机目标跟踪算法研究[J]. 微电子学与计算机, 2019, 36(11): 76-83.

SHEN Si-yuan, LI Zhen-xiao, SUN Wei. Research on target tracking of UAV based on improved Camshift algorithm[J]. 2019, 36(11): 76-83.
沈思源, 李震霄, 孙伟. 基于改进Camshift的无人机目标跟踪算法研究[J]. 微电子学与计算机, 2019, 36(11): 76-83. DOI：

SHEN Si-yuan, LI Zhen-xiao, SUN Wei. Research on target tracking of UAV based on improved Camshift algorithm[J]. 2019, 36(11): 76-83. DOI：

摘要

无人机在对地面目标进行跟踪时

传统Camshift算法易受相似颜色背景/目标、遮挡等干扰.本文提出一种改进Camshift的目标跟踪方法.通过提取跟踪目标的色度、饱和度和LBP纹理特征分量建立基于三维联合直方图的跟踪模板

并采用自适应加权策略来调整三种特征分量的权重值

提高算法的跟踪准确度; 在跟踪目标受到遮挡干扰时

引入Kalman滤波机制

增强算法的鲁棒性.实验结果表明

改进后的算法能够满足无人机对目标跟踪准确性与实时性的要求.

Abstract

When UAV tracks the ground target

the classicCamshift algorithm is susceptible to similar color background/target

occlusion

etc. The target tracking method based on improved Camshift is proposed A tracking template based on three-dimensional joint histogram is established by extracting the Hue

Saturation and LBP texture features of the tracking target

and the weighting values of the three feature components are adjusted by the adaptive weighting strategy to improve the tracking accuracy of the algorithm. When the tracking target is blocked

Kalman filtering mechanism is introduced to enhance the robustness of the algorithm. The experimental results show that the improved algorithm can meet the requirementsoftargettrackingaccuracyandreal-timefor UAV.

关键词

Keywords

references

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