关键词: 全局检测, 自适应核窗口, 目标跟踪, 圆形目标

Abstract: In order to improve the real-time performance of the visual navigation of autonomous aerial refueling with hose type, a adaptive kernel window algorithm based on Meanshift algorithm is proposed, which can improve the real-time performance of the algorithm. Taking the black circular area inside the drogue as the final tracking target, the detection algorithm provides the initial relative position of the drogue, accuratly and reliably; then it takes the position information of the drogue as the input of Meanshift algorithm to update the kernel window to realize drogue image target tracking. It has fast processing speed and high precision. The final results from the validity, rapidity and accuracy of detection and tracking methods are analyzed and compared. When the precision is not affected, the tracking processing time is reduced by about 30% than the detection time. Adaptive kernel window tracking algorithm proposed in this paper is fast and efficient, and it has the same accuracy as the global detection. Processing speed increases by 30% and reliability is above 95%.

Key words: global detection, adaptive kernel window, target tracking, circular target