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Specific moving target fast tracking method based on moving platform

A target tracking and moving target technology, which is applied in the field of fast tracking of specific moving targets based on moving platforms, can solve problems such as detecting the precise position of moving targets, and achieve the effects of improving accuracy, fast and reliable tracking, and improving tracking efficiency

Active Publication Date: 2017-02-22
湖南穗富眼电子科技有限公司
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  • Abstract
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  • Claims
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AI Technical Summary

Problems solved by technology

However, when the carrier (platform) of the camera is moving, it is difficult to detect the precise position of the moving target through motion detection technology

Method used

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  • Specific moving target fast tracking method based on moving platform
  • Specific moving target fast tracking method based on moving platform
  • Specific moving target fast tracking method based on moving platform

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Embodiment Construction

[0050] A fast tracking method for a specific moving target based on a moving platform, which combines the data of two sensors, the lidar and the visual camera, to track the target. Target collection; then crop the image area corresponding to the candidate target, and identify the specific moving target based on the SIFT matching method; finally, in the target tracking stage, estimate the position of the specific moving target based on the target position, speed and direction information obtained by the lidar, and perform target tracking, if If the tracking fails, expand the tracking range, and use SIFT matching to identify specific moving targets for tracking.

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Abstract

The invention relates to a specific moving target fast tracking method based on a moving platform. The data of two kinds of sensors such as a laser radar and a visual camera are fused to track a target. The method comprises the steps that target coarse screening is carried out according to the information such as the speed, position and size of the moving target to acquire a candidate target set, wherein the information is acquired by the laser radar; an image area corresponding to the candidate target is tailored, and a specific moving target is identified based on a SIFT matching method; finally, in the target tracking phase, according to the information of the position, speed and direction of the target, the specific moving target position is estimated to track the target, wherein the information is acquired by the laser radar; and if tracking is failed, the tracking range is expanded, and SIFT matching is combined to identify the specific moving target for tracking. By fusing two kinds of sensor data, specific moving target tracking is carried out under the moving platform. The tracking accuracy is improved. The tracking efficiency is improved.

Description

technical field [0001] The invention specifically relates to a method for fast tracking of a specific moving target based on a moving platform. Background technique [0002] In recent years, the demand for unmanned vehicles and drones has been strong, and research has been hot. Target tracking based on moving platform is an urgent technical problem in the field of unmanned vehicles and unmanned aerial vehicles. [0003] Depending on the sensor, the tracking method of the moving target is also different. Radar sensors are often used in the field of moving target tracking. Moving target tracking based on radar sensor data often uses tracking methods such as nearest neighbor method, generalized correlation method, classical allocation method and interactive multi-model method. The document "A Singer-EKF Maneuvering Target Tracking Method Based on Radial Acceleration" (2014, Journal of the Academy of Naval Aeronautical Engineering) aims at the problem that the radar sensor can...

Claims

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Application Information

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IPC IPC(8): G06T7/246G06T7/73G06K9/46
CPCG06T2207/10016G06T2207/10044G06V10/462
Inventor 谢昌颐李健夫
Owner 湖南穗富眼电子科技有限公司
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