The invention discloses a dynamic obstacle tracking method and
system based on sparse
laser radar data, and belongs to the technical field of dynamic obstacle tracking, and the method comprises the following steps: S1, eliminating a static background; S2, performing dynamic
point cloud clustering; S3, performing convex
hull extraction; S4, performing
feature extraction; S5, performing
data association; S6: predicting a trajectory. According to the method, static obstacle
laser radar point clouds are filtered by using a grid map, and extremely sparse point clouds are filtered by a small amountof residual static point clouds through a
dbscan algorithm, so the final filtering effect is enhanced; point clouds are classified into ellipses, rectangles and straight lines in a fuzzy mode by extracting angle information of
point cloud convex hulls, then correct
point cloud position points are obtained by assisting the point clouds in fitting the sizes of graphs, and the accuracy of
data association is guaranteed. In addition, the characteristics of the nearest neighborhood and the multi-target
hypothesis algorithm are integrated, the multi-target association
algorithm is improved, and dataassociation work can be efficiently completed on the premise of ensuring accuracy.