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High-frame-rate Video-based Multicopter Tracking System Using Pixel-level Short-time Fourier Transform
Journal of Intelligent & Robotic Systems ( IF 3.3 ) Pub Date : 2021-09-30 , DOI: 10.1007/s10846-021-01483-2
Kohei Shimasaki 1 , Nagahiro Fujiwara 2 , Shaopeng Hu 3 , Taku Senoo 3 , Idaku Ishii 3
Affiliation  

In this study, we develop a telephoto pan-tilt drone search and track system for multicopters flying in a wide area spanning hundreds of meters, situated at a distance of hundreds of meters. It can detect periodic brightness changes around the drone propellers, which rotate at a high speed, in a high-frame-rate (HFR) video. The temporal frequency responses of the brightness signals in the HFR video are computed by performing pixel-level short-time Fourier transforms (STFTs) of the signals. By detecting the peak frequencies, the drone propellers are localized as vibration sources, and their rotation speed is estimated to monitor the flight status of the drone. For real-time localization and flight monitoring, the proposed system can perform pixel-level STFTs in a 500 fps video of 720×540 pixels using video processing accelerated by graphic processing units. This allows a multicopter to be tracked in real time at the center of the camera view by a galvanomirror pan-tilt active vision system with visual feedback. We verified its effectiveness by examining HFR videos for flying multicopters of different appearance, and conducted tracking experiments in outdoor scenes involving multicopters flying at an altitude of 70 m and 200 m ahead in a mountainous background.



中文翻译:

使用像素级短时傅立叶变换的基于高帧率视频的多轴飞行器跟踪系统

在这项研究中,我们开发了一种长焦云台无人机搜索和跟踪系统,用于在数百米的广阔区域内飞行的多旋翼飞机,距离数百米。它可以在高帧率 (HFR) 视频中检测高速旋转的无人机螺旋桨周围的周期性亮度变化。HFR 视频中亮度信号的时间频率响应是通过对信号执行像素级短时傅立叶变换 (STFT) 来计算的。通过检测峰值频率,将无人机螺旋桨定位为振动源,估计其旋转速度以监测无人机的飞行状态。用于实时定位和飞行监控,所提出的系统可以使用由图形处理单元加速的视频处理,在 720×540 像素的 500 fps 视频中执行像素级 STFT。这允许通过具有视觉反馈的电流镜平移-倾斜主动视觉系统在相机视图的中心实时跟踪多旋翼飞行器。我们通过检查用于飞行不同外观的多旋翼飞行器的 HFR 视频来验证其有效性,并在涉及多旋翼飞行器在山地背景下在 70 m 和 200 m 高度飞行的户外场景中进行了跟踪实验。

更新日期:2021-09-30
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