Research On Target Tracking Technology Of Two-Axis Pan-Tilt

In the national defense field and civil field,the demand for intelligent monitoring is increasing.How to apply computer vision technology to the field of intelligent monitoring has become a research hotspot.The use of two-axis pan-tilt for target tracking is due to its huge practical application value,it has received wide attention.Based on the target tracking algorithm of the kernelized correlation filters,this dissertation improves its target template updating strategy and applies it to the target tracking of the two-axis pan-tilt.Eventually the tracking target is always in the center of the image.Firstly,the kernelized correlation filters target tracking algorithm is theoretically deduced,and the circular matrix of the two-dimensional image is used to achieve the effect of dense sampling.The real-time property is improved by the properties of the cyclic matrix,and the low-dimensional feature space is mapped to the high-dimensional feature space,it solves problem of the low-dimensional linear indivisible,further improves the accuracy of the tracker,and then accelerates the target detection link,and uses the linear interpolation method to update the target template in real time to suppress the template drift.Secondly,the simulation verification of the kernelized correlation filters target tracking algorithm is carried out,and compared with other popular target tracking algorithms,the excellent performance of the kernelized correlation filters target tracking algorithm is demonstrated,and the target template update is improved based on the original algorithm,the strategy uses the results of the correlation calculation to determine whether to update the target template.The comparison of the simulation results shows the feasibility of the improved algorithm.Then,through mathematical modeling,the relationship between the rotation angle of the two-axis pan-tilt and the size and focal length of the camera's photosensitive sensor is obtained,which can convert the distance in the pixel coordinate system into the rotation angle of the two-axis pan-tilt.The relationship between the output of the target tracking algorithm and the control input of the two-axis pan-tilt is analyzed.Through the analysis of the characteristics of each type of motor,it is determined that using the servo as motion mechanism of the two-axis pan-tilt,and the control principle of the servo is analyzed.Finally,a physical platform was built to verify the target tracking test of two-axis pan-tilt,and the various parts of the system are selected.The hardware and software of the system are designed respectively.The accuracy and practicability of the whole system were proved through the actual two-axis pan-tilt target tracking test.