Computer Engineering and Applications ›› 2020, Vol. 56 ›› Issue (8): 177-184.DOI: 10.3778/j.issn.1002-8331.1901-0132

Previous Articles     Next Articles

Scale Adaptive Correlation Tracking Method for Circular Target Based on Block Detection

WANG Guoyi, SUN Yongrong, WU Lei, ZENG Qinghua   

  1. Navigation Research Center, College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211100, China
  • Online:2020-04-15 Published:2020-04-14



  1. 南京航空航天大学 自动化学院 导航研究中心,南京 211100


In order to solve the problem of tracking failure caused by the inadaptability of frame scale and occlusion of target in traditional Kernelized Correlation Filters(KCF) tracking method, taking circular cone sleeve target tracking in aerial refueling visual navigation as an example, a scale adaptive correlation tracking method based on block detection for circular target is proposed in this paper. The problem of target scale transformation in circular target tracking is solved by using the method of extracting feature points and contour fitting. The occlusion and tracking failure are distinguished by block detection, which eliminates the accumulated tracking error under occlusion and achieves target tracking under partial occlusion. Experimental results show that the proposed scale adaptive correlation tracking method for circular target has high real-time performance, reliability and accuracy, and achieves stable and reliable tracking for cone sleeve in air refueling docking process.

Key words: kernelized correlation filters, target tracking, feature point extraction, block detection, scale adaptation, occlusion judgment



关键词: 核相关滤波器, 目标跟踪, 特征点提取, 分块检测, 尺度自适应, 遮挡判断