基于决策融合的多无人机协同目标检测识别算法

针对现阶段单无人机不能高效完成大区域巡视的问题,提出一种多无人机决策融合的目标检测识别算法.首先改进Retinanet算法进行单无人机的目标检测,根据航拍图像目标特性,调整anchor参数和训练策略.同时利用特征提取算子配准多无人机航拍图像,实现多机图像坐标一致,并进行图像拼接.然后综合目标的位置信息和属性信息对多机图...

Cooperative object detection and recognition algorithm for multiple UAVs based on decision fusion

Since a single unmanned aerial vehicle(UAV)cannot patrol a large area efficiently,an object detection and recognition algorithm based on multiple UAVs decision fusion is proposed.Firstly,Retinanet algorithm is improved for object detection of a single UAV.Anchor parameters and training strategies are adjusted according to object characteristics of aerial images.Meanwhile,the feature extraction operator is used to register the aerial images of multiple UAVs such that the coordinates of the images of multiple UAVs are consistent and the images are mosaic.Then,the multiple UAVs images are correlated by combining information of the object position and the attribute.Finally,a dynamic switching strategy based on collision measurement is proposed,which adaptively selects the Dempster-Shafer theory(DST)or desert-smarandache theory(DSmT)to fuse the associated object information.Experimental results on multiple UAVs cooperative object identification data set show that the proposed algorithm can not only increase the single patrol range,but also improve the detection accuracy of the UAV patrol system.