Monocular Visual Tracking of Tactical UAV for Moving Target

In this paper, a method for UAV (Unmanned Aerial Vehicle) monocular vision tracking for moving targets is proposed. Firstly, a Z-shaped route generation algorithm that is adjusted according to the target velocity is proposed to ensure the velocity matching of the UAV in the target tracking process. In addition, a target state estimation method based on Kalman filter is designed to enable real-time lo-cation during target tracking. Finally, simulation results show the effectiveness of the method.