Target detection and tracking method based on fusion of laser point cloud and image

Abstract

The invention discloses a target detection and tracking method for integrating laser point cloud and image, the steps include: S1. separately collect the laser point cloud data and image data of the target, and perform the first target detection according to the collected point cloud data to obtain the second target The first target detection result, and the second target detection based on the collected image data to obtain the second target detection result; S2. Based on the Bayesian decision, the first target detection result and the second target detection result are fused and judged to obtain the final The output of the target detection result; S3. Carry out target tracking according to the final target detection result. The invention has the advantages of simple and efficient implementation method, high target detection and tracking precision, strong environmental adaptability and fault tolerance, and stability and reliability.

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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