Position estimation method and apparatus for tracking target, and unmanned aerial vehicle

An unmanned aerial vehicle, comprising a fuselage, a pan-tilt-zoom (PTZ) camera, arms connected to the fuselage, power systems arranged on the arms, and a tracking system arranged on the fuselage, wherein the tracking system comprises a controller, and the controller comprises:

• at least one processor;
• and
• a memory communicatively connected to the at least one processor, wherein
• the memory stores instructions executable by the at least one processor, and the instructions, when executed by the at least one processor, cause the at least one processor to perform a position estimation method for a tracking target, the method comprising:
• estimating a target position of the tracking target at the next time according to an initial position of the tracking target at the current moment;
• determining an estimated width and an estimated height of the tracking target in an image captured by the PTZ camera according to an estimated target position of the tracking target;
• obtaining an actual width and an actual height of the tracking target in the image;
• determining a height difference between the estimated width and the estimated height, and determining a width difference between the actual height and the actual width;
• and
• updating the target position of the tracking target at the next time according to the height difference and the width difference;
• wherein the determining an estimated width and an estimated height of the tracking target in the image according to an estimated target position of the tracking target comprises:
• modeling the tracking target, determining a model corresponding to the tracking target, and determining a target box of the tracking target in the image according to the model corresponding to the tracking target.

A non-transitory computer-readable storage medium, wherein the computer-readable storage medium stores computer executable instructions, and the computer executable instructions, when executed by an unmanned aerial vehicle, cause the unmanned aerial vehicle to perform a position estimation method for a tracking target, the method comprising:

• estimating a target position of the tracking target at the next time according to an initial position of the tracking target at the current moment;
• determining an estimated width and an estimated height of the tracking target in an image captured by a pan-tilt-zoom (PTZ) camera of the unmanned aerial vehicle according to an estimated target position of the tracking target;
• obtaining an actual width and an actual height of the tracking target in the image;
• determining a height difference between the estimated width and the estimated height, and determining a width difference between the actual height and the actual width;
• and
• updating the target position of the tracking target at the next time according to the height difference and the width difference;
• wherein the determining an estimated width and an estimated height of the tracking target in the image according to an estimated target position of the tracking target comprises:
• modeling the tracking target, determining a model corresponding to the tracking target, and determining a target box of the tracking target in the image according to the model corresponding to the tracking target.