Water surface target detection and tracking method based on laser radar

Abstract

The invention relates to the environment perception field and especially relates to a water surface target detection and tracking method based on a laser radar. The method comprises the following steps of (1) acquiring point cloud data of a t-th frame sea surface environment through the laser radar; (2) filtering the point cloud data; (3) segmenting the filtered point cloud data to obtain a point cloud cluster; (4) clustering the point cloud cluster to form a target, carrying out threshold screening on the target, and obtaining the target of the t-th frame sea surface environment; (5) repeating the steps (1) to (4) and processing a t+1th frame sea surface environment to obtain the target of the t+1th frame sea surface environment; (6) matching and associating the target of the t-th frame sea surface environmental with the target of the t+1th frame sea surface environmental to obtain a matched target pair; and (7) calculating a target moving state of the matched target pair and tracking the target moving state. By using the method, target detection and tracking accuracy is high, stability is good, and the accuracy and stability of target detection and tracking of an unmanned surface vehicle are increased.

Description

technical field [0001] The invention relates to the technical field of laser radar environment perception, in particular to a method for detecting and tracking water surface targets based on laser radar. Background technique [0002] Surface unmanned boat, also known as unmanned boat, unmanned boat is a new type of surface unmanned equipment, which can be widely used to perform various water tasks, such as coastline patrol, offshore defense, port patrol, warship escort, environmental monitoring, Sea area construction and so on. With the development of unmanned boats, unmanned boats will have more extensive applications in the future. [0003] If the unmanned vehicle is to complete various tasks safely and autonomously under changing and attached sea conditions, the unmanned vehicle must have good environmental awareness. During the actual use of unmanned boats, the perception of the surrounding environment by unmanned boats has always been a technical difficulty. At presen...

AI Technical Summary

Problems solved by technology

[0004] The existing methods for sea surface target detection are all based on the method of 2.5D grid. This method first projects the point cloud onto a plane grid, and the value in the grid represents the height information of the current point, and then It is beneficial to some segmentation and clustering methods to process the target. This method ignores the shape information of the target point cloud and does not preserve the original information of the point cloud well, so it cannot be achieved when performing shape-based matching on the point cloud. Target