基于无人机视角的地面多军事目标速度估计方法OA

To address the strong reliance of existing monocular speed estimation methods on key prior information such as target size,vanishing point position,and scene markers,a new method for estimating the speed of multiple ground military targets from a drone perspective is proposed.Firstly,the trajectory information of moving targets in consecutive frame sequences is extracted through multi-target tracking technology,and the time interval is calculated in combination with the video frame rate.Secondly,a geo-metric projection model is constructed using the flight height of the drone and the camera gimbal attitude angle to establish the mapping relationship between the pixel coordinate system and the world coordinate system,and then the real displacement distance of the moving target is calculated.Finally,the perfor-mance of the proposed speed measurement algorithm is verified through experiments,and the calculation accuracy of the geometric projection model is quantitatively analyzed and evaluated.The experimental results show that when the flight height is greater than 20.0 m and the attitude angle is less than 30.0°,the relative measurement error does not exceed 2%.Compared with other speed measurement methods,the proposed method meets the requirements of speed estimation for moving targets in battlefield situation awareness without relying on prior information such as target size,vanishing point position,and scene markers,providing a more adaptable new method for speed estimation.