UNMANNED AERIAL VEHICLE HAVING AUTOMATIC TRACKING FUNCTION TO IMPROVE TRACKING PERFORMANCE THEREOF USING EXPANDED KALMAN FILTER

摘要

The present invention relates to an unmanned aerial vehicle having an automatic tracking function to improve the tracking performance thereof using an expanded Kalman filter. The unmanned aerial vehicle having an automatic tracking function to improve the tracking performance thereof using an expanded Kalman filter, according to the present invention, comprises: an image input part which acquires the image with respect to the surrounding images of an object to be photographed; an object recognizing part which extracts an interest area using the image acquired through the image input part, detects a specific area located in the interest area, and measures the coordinate of the specific area to recognize the specific area as an object to be tracked; an object tracking part which tracks the object to be tracked recognized in the object recognizing part and generates a driving command for driving the unmanned aerial vehicle; an operation recognizing part which recognizes the operation of the object to be tracked to generate the driving command corresponding a photographing mode, a video recording mode, and a resetting mode; and an operation control part which drives the unmanned aerial vehicle according to the driving command.;COPYRIGHT KIPO 2016