OTCS: An Online Target Close-Up Shooting Method Based on the UAV Image System

Algorithm 2

Dynamic object close-up control.

Input: Original image, Camera parameters

Output: Close-up image

1: Run YOLOv3 Algorithm // Get the measurements value

2: whiledo:

3: Compute optimal estimator according to (13)

4: Predict the state according to (14)

5: Update Kalman filter

6: Compute according to (15)

7: PTC

8: ifdo:

9:  CC zoom and focus

10:  Take image

11: end if

12: ifdo:

13: Output

14: end if

15: end while