Vision-based unmanned aerial vehicle foresight target tracking method and device and storage medium

The invention relates to the technical field of target tracking, in particular to an unmanned aerial vehicle forward-looking target tracking method based on vision, and the method comprises the steps: obtaining an unmanned aerial vehicle forward-looking image; acquiring the three-dimensional position of the center point of the tracking target in a camera coordinate system; converting the point cloud map into an octree map; acquiring the position of the target center point in the world coordinate system; obtaining the complexity of the foresight scene of the unmanned aerial vehicle; and according to the complexity of the foresight scene of the unmanned aerial vehicle, different tracking modes are selected to determine the unmanned aerial vehicle for target tracking. According to the invention, real-time and reliable tracking of the foresight target by the unmanned aerial vehicle can be realized, and the autonomous capability of the unmanned aerial vehicle is improved. 本发明涉及目标跟踪技术领域，具体涉及一种基于视觉的无人机前视目标跟踪方法，包括：获取