Object detection and tracking method of fusing laser point clouds and images

Abstract

The invention discloses an object detection and tracking method of fusing laser point clouds and images. The method comprises the steps of: S1, respectively collecting laser point cloud data and imagedata of an object, carrying out first object detection according to the collected point cloud data to obtain a first object detection result, and carrying out second object detection according to thecollected image data to obtain a second object detection result; S2, carrying out fusion judgment on the first object detection result and the second object detection result on the basis of Bayesiandecision to obtain final object detection result output; and S3, carrying out object tracking according to a final object detection result. The method has the advantages of a simple and highly-efficient realization method, high object detection and tracking accuracy, high environment adaptability and fault tolerance, stability, reliability and the like.

Description

technical field [0001] The invention relates to the technical field of target detection and tracking, in particular to a target detection and tracking method for fusing laser point clouds and images. Background technique [0002] Most of the current target detection and tracking methods are mostly based on image and video data, that is, relying on a single visual image information for target detection and tracking, but this type of single visual image information for target detection usually requires high quality, high resolution of the original image, and the limitations of the visual sensor itself make the lighting changes, occlusion between targets, shadows and other factors will have a serious impact on the quality of the collected images, such as severe weather such as strong winds, rain and snow or lighting changes, occlusion, Shadows, etc., greatly reduce the reliability of the detection results, the robustness of the detection system is poor, and the use of tracking ...

AI Technical Summary

Problems solved by technology

[0005] 1. The point cloud information measured by lidar is only used to reduce the search space of the image, and the point cloud information is not fully utilized, and the advantages of lidar and image data are not fully utilized;

[0006] 2. Since the search space on the image is reduced by using the point cloud information of the lidar first, and then the target detection and tracking is performed by the searched image data, when any sensor in the lidar or image acquisition fails, the entire detection system cannot work, the stability and reliability of the system is not high

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