Ground Targets Detecting And Dynamic Locating Using A Single Camera Mounted On An Unmanned Airship

As one of the most important UAVs, unmanned airship has advantagessuch as low flight cost, long endurance and etc. And all these advantagesmake it suitable for aerial video surveillance. So that researches on visualtechnique with camera mounted on unmanned airships are important. Thenovel methods for both moving and nonmoving ground objects detectionusing a single camera mounted on an unmanned airship are proposed in thispaper.The nonmoving object is detected successively in the image sequence bytracking the feature points selected in the initial static object region with thefeature tracking technique. For the moving object, the overall image motionbetween the adjacent frames is estimated by matching the feature points, andthen the overall frame motion is compensated. Appling the frame differenceapproach to the compensated frame and the current frame, the movingobject is detected. The proposed methods are evaluated and experiments arecarried out with the real data provided by the unmanned airship. It is shownthat the proposed methods present good performance.