Moving platform adaptive expansion target tracking system and method based on laser radar

Abstract

The invention discloses a moving platform adaptive expansion target tracking system and method based on a laser radar. The system comprises global positioning, local map generation, target detection and identification, motion target classification and adaptive tracking modules, wherein the global positioning module is used for acquiring the real-time position and the motion state information of amoving platform, the local map generation module is used for generating a local map corresponding to the present position according to laser radar data, the target detection and identification moduleis used for carrying out clustering and characteristic extraction processing of the local map at the present time and detecting and identifying a motion target, the motion target classification moduleis used for classifying targets into an expansion target and a point target, and the adaptive tracking module is used for realizing hybrid tracking of the expansion target and the point target at thesame time and realizing same target adaptive tracking model switching at different times. The system is advantaged in that extended target tracking is performed to enhance the target tracking effect,and mobile platform environment perceptual performance and adaptation capability are improved.

Description

technical field [0001] The invention belongs to the technical field of environment perception of unmanned mobile platforms such as intelligent vehicles and mobile robots, and mainly relates to a laser radar-based mobile platform self-adaptive extended target tracking system and method. Background technique [0002] In unmanned mobile platforms such as intelligent vehicles and mobile robots, environmental perception is one of the most basic and key technologies. In order to improve the perception ability of the above-mentioned mobile platform in a complex environment, the unmanned mobile platform needs to have the adaptability to perceive different targets. Different forms of tracking and switching capabilities make the mobile platform's perception ability greatly restricted by the actual environment. [0003] Chinese Patent Application: A Distributed Target Tracking Method Based on Improved Joint Probabilistic Data Association (Application No.: CN201610821318.5) discloses a...

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Problems solved by technology

[0010] In order to solve the problem that the environmental perception system in the existing unmanned mobile platforms such as intelligent vehicles and mobile robots only uses a single model to perceive and describe a single target, and does not have the ability to track and switch between different forms of the same target, the present invention proposes a A lidar-based mobile platform adaptive extended target tracking system and method for effectively improving the complex environment adaptability and tracking performance of the unmanned mobile platform environment perception system

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