Water surface target detection and tracking method based on laser radar

A technology of lidar and water surface targets, which is applied in the direction of measuring devices, electromagnetic wave reradiation, radio wave measurement systems, etc., can solve the problem of not keeping the original point cloud information well, failing to reach the target, ignoring the shape information of the target point cloud, etc. problems, to achieve the effect of improving accuracy and stability, improving correctness and accuracy, and high accuracy

Active Publication Date: 2019-09-24
SHANGHAI UNIV
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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 seg

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[0030] The present invention will be described in further detail below through specific examples, but the scope of the present invention will not be limited. In addition, it should be noted that all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present invention belongs.

[0031] A method for detecting and tracking a surface target based on 3D laser radar, comprising the following steps:

[0032] (1) Through the 3D laser radar installed on the surface unmanned boat (3D laser radar is installed directly above the surface unmanned boat, and is installed horizontally. After the laser radar is running, it will collect data on the sea surface environment at a certain frequency) Detect the sea surface environment, and obtain the point cloud data of the tth frame sea surface environment.

[0033] (2) Perform filtering processing on the point cloud data obtained in step (1). The specific operation of t...

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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...

Claims

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Application Information

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IPC IPC(8): G01S7/48G01S17/58G01S17/66G06K9/62G06T7/136G06T7/277
CPCG01S17/66G01S17/58G01S7/4808G01S7/48G06T7/136G06T7/277G06T2207/10044G06T2207/10028G06F18/22
Inventor 杨毅张志萌罗均谢少荣彭艳蒲华燕
Owner SHANGHAI UNIV
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