LiDAR-based mobile platform adaptive extended target tracking system and method

Abstract

The invention discloses a mobile platform self-adaptive extended target tracking system and method based on laser radar. The system includes global positioning, local map generation, target detection and identification, moving target classification and self-adaptive tracking modules. Among them, the global positioning module is used to obtain the real-time position and motion status information of the mobile platform; the local map generation module generates a local map corresponding to the current position according to the lidar data; the target detection and recognition module performs clustering and feature extraction processing on the local map at the current moment , to detect and identify moving targets; the moving target classification module classifies targets into extended targets and point targets; the adaptive tracking module realizes mixed tracking of extended targets and point targets at the same time, and realizes switching of adaptive tracking models for the same target at different times. The invention implements extended target tracking processing to enhance the target tracking effect, and helps to improve the environmental perception performance and adaptability of the mobile platform.

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...

AI Technical Summary

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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