# A Dynamic Measurement System Based on Adaptive Clustering and Multi-Classifier
## 4 Results
### Method Performance Analysis Experiment
#### 4.4.1 Target Localization Accuracy Experiment  
The purpose of the experiments in this section is to verify the accuracy of three-dimensional object positioning based on binocular stereo vision. Given the practical situation in the field of aerial refueling, the fundamental goal of improving the accuracy,  
Figure 9: **(a)** Statistical chart of target feature response values from the left perspective; (b) statistical chart of target feature response values from the right perspective. speed, and stability of target detection and tracking is to rapidly obtain high-precision three-dimensional positioning information of the refueling drogue's center point. Therefore, the design of this study uses the three-dimensional true values of the refueling drogue's center point in the visual simulation platform as a benchmark to test the Euclidean distance deviations between the three-dimensional measurement results from both the algorithm proposed in this paper and the comparative algorithm. To better demonstrate the improvement each module of the algorithm in this paper contributes to the overall accuracy, we will conduct comparative experiments using ablation studies. We will refer to YOLOv5 + DeepSort + K-means feature response as My Method A, YOLOv5 + DeepSort + decision function as My Method B, and YOLOv5 + DeepSort + state judgment as My Method C. In addition to the aforementioned three ablation algorithms A, B, and C, this section also incorporates the latest algorithm applying the YOLO model in the aerial refueling field (an intelligent cone detection algorithm based on YOLOv4-tiny) for comparison [23]. In order to better demonstrate the capability of the algorithm proposed in this paper to handle various challenges, we selected a test set composed of images that include four types of scenarios: target scale changes, shape structure changes, high-speed motion blur, and target feature occlusion. Each type of image consists of 25 frames, totaling 100 frames. These 100 frames are randomly combined in an order that increases relative distance, adding to the complexity of the test set. During the simulation of aerial refueling docking, the relative distance between the refueling drogue and the receiver's intake gradually changes from 30 m to 3 m. We are unable to have the test set contain only one of the above four situations, as our visual simulation software can only emulate the process of aerial refueling and cannot artificially intervene to fix a specific situation; therefore, each image may contain two or more complex conditions simultaneously. From Figure 10, it is clear that My Method and My Method A demonstrate overall high positioning accuracy and stability. This highlights the significant role the feature responder plays among the three modules added to our method. Additionally, My Method B and My Method C show higher overall accuracy and stability compared to YOLO, indicating that both the decision function and state determination modules are crucial for enhancing performance. However, as the relative distance increases, the absence of the feature responder in these two modules results in a noticeable deterioration in positioning accuracy. Based on the accuracy requirements of the aerial refueling project, the precision requirement within a 5 m range is less than 5 cm, and beyond that range, the precision requirement is less than 1% of the Euclidean distance. Figure 6 shows that only My Method meets the precision requirements for aerial refueling. To better quantify the improvements of our method and its modules over the current optimal YOLO-based aerial refueling algorithms, we calculated the mean difference in positioning deviation per frame among the methods. YOLO is 11.7 cm less accurate than My Method; My Method A is 2.8 cm less accurate than My Method; My Method B is 10.1 cm less accurate than My Method, and My Method C is 8.1 cm less accurate than My Method.