The invention provides a low-energy-consumption three-dimensional
point cloud single-target tracking method based on a
spiking neural network, and the method comprises the steps: obtaining the three-dimensional
point cloud data of a previous frame and a current frame of a target, designing a
voxel grid module, and dividing the
point cloud into 3D voxels; a
feature extraction module is designed, a three-stage pulse
convolution block is used as a feature extractor, voxelization point cloud features are extracted, a Transform
encoder layer is added, and global context information of the point cloud is captured through a self-attention mechanism; a part-to-part
motion modeling module is designed, continuous point cloud features on a
time sequence are modeled and coded part by part through a two-dimensional pulse
convolution block, and feature information changes of a previous frame and a current frame in corresponding space parts are obtained; and designing a regression prediction module, and inferring the
relative motion of the target through a pulse regression prediction module. According to the method,
energy consumption is reduced, efficiency is improved, and meanwhile it is guaranteed that the network accurately tracks the target in diversified scenes and motion states.