基于嵌入式平台的无人机视觉智能跟踪系统开发

发布时间：2018-06-28 04:40

本文选题：嵌入式系统 + 目标检测与跟踪　；参考：《沈阳航空航天大学》2012年硕士论文

【摘要】：随着现代社会的不断发展进步,人们对军用设备和民用设备需求的不断扩大、以及对其要求的不断提高,运动目标的识别与跟踪技术已经快速发展为现代信息处理领域中一项至关重要的技术,同时这项技术也是无人机野外战场侦察中的重点和难点,并在许多应用领域内发挥着不可替代的作用。目前,基于PC机的目标检测与跟踪技术的发展已趋于成熟,但其在基于嵌入式平台的视觉技术应用领域的研究还处于初级阶段。由于嵌入式系统具有体积小巧,便于携带等一系列PC机无法替代的优点,将其运用于无人机野外战场侦察、跟踪打击目标等,可以使无人机的作用大大提高,因此如何对运动目标进行有效检测和跟踪并且在嵌入式系统中实现是目前急需解决的课题。本文首先概述了基于嵌入式平台的视觉智能跟踪系统研究的背景、意义以及研究现状,通过分析国内外视觉智能跟踪系统研究的发展现状和应用中所面临的实际问题来说明本课题研究的重要性;然后提出了一种基于ARM嵌入式S3C2410处理器的视觉检测与跟踪系统的设计方案,并且将系统中涉及的重点设计方法进行了详述;主要包括嵌入式核心处理器的选择、嵌入式操作系统的选择等。其次具体介绍了嵌入式视觉智能跟踪系统的硬件平台和软件设计方案,针对其中ARM-Linux平台的搭建、USB摄像头驱动、OpenCV库的移植等问题作了重点说明。然后对系统采用的目标检测和跟踪算法进行了详细的叙述,并且通过仿真实验验证了本算法的有效性。最后通过实验仿真,验证了所提出的基于嵌入式平台的视觉智能跟踪系统设计方案的合理性,并且指出本研究的未来发展的方向。这种分析和设计的方法对视觉跟踪系统的嵌入式应用具有一定的指导和借鉴意义。
[Abstract]:With the continuous development and progress of modern society and the increasing demand for military equipment and civilian equipment, and the continuous improvement of its requirements, the recognition and tracking technology of moving targets has rapidly developed into a crucial technology in the field of modern information processing, and this technology is also the field battlefield reconnaissance of UAV. The key and difficult points, and play an irreplaceable role in many applications. At present, the development of target detection and tracking technology based on PC has become mature, but the research on the application field of visual technology based on embedded platform is still in the primary stage. Because the embedded system has small size, easy to carry and so on The advantages of PC, which can not be replaced, are used in unmanned aerial vehicle field reconnaissance, tracking targets and so on, which can greatly improve the effect of UAV. Therefore, how to detect and track the moving target effectively and realize it in embedded system is an urgent problem to be solved at present.
In this paper, the background, significance and research status of the research on the visual intelligent tracking system based on embedded platform are summarized, and the importance of the research is illustrated by analyzing the current development status of the research on the visual intelligent tracking system at home and abroad and the practical problems faced in the application. Then a kind of embedded S3C2410 based on ARM is proposed. The design of the visual inspection and tracking system of the device, and the key design methods involved in the system are described in detail, including the selection of the embedded core processor and the selection of the embedded operating system. Secondly, the hardware platform and the software design of the embedded visual intelligent tracking system are introduced in detail, in which the ARM is designed. The construction of the -Linux platform, the USB camera driver, and the transplant of the OpenCV library are emphasized. Then the target detection and tracking algorithms used in the system are described in detail, and the effectiveness of the algorithm is verified by the simulation experiment.
Finally, through the experimental simulation, the rationality of the proposed design scheme of the visual intelligent tracking system based on the embedded platform is verified, and the direction of the future development of this research is pointed out. This method of analysis and design has some guidance and reference for the embedded application of the visual tracking system.
【学位授予单位】：沈阳航空航天大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：V279;TP368.1

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