Moving target following based on visual reference system

With the continuous development of the computer vision field, visual positioning technology has become a new stable positioning technology. The visual positioning based on artificial landmark recognition has high recognition rate and high robustness, and AprilTag is one of the representatives. We use a distributed control system, take advantage of the characteristics of strong scalability, equipped with a micro processor, OpenMV, WiFi expansion board, etc., real-time acquisition of images and use of homograph transformation to process the images, can achieve precise positioning, in the mobile client Real-time transmission of images, and use of PD algorithm to control the servo system, can respond quickly. After testing, under the condition of normal light, under comprehensive consideration, it is most appropriate to set the distance between the system and the target as 0.8 m.