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Three-dimensional multi-target tracking method fusing images and laser point clouds

A multi-target tracking and laser point cloud technology, applied in the field of three-dimensional multi-target tracking, can solve the problems of tracking loss and difficult identification of disappearing targets

Active Publication Date: 2020-01-10
NAT INNOVATION INST OF DEFENSE TECH PLA ACAD OF MILITARY SCI
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the technical problems of tracking loss caused by target occlusion and difficult recognition of disappearing targets during long-term tracking

Method used

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  • Three-dimensional multi-target tracking method fusing images and laser point clouds
  • Three-dimensional multi-target tracking method fusing images and laser point clouds
  • Three-dimensional multi-target tracking method fusing images and laser point clouds

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Embodiment Construction

[0047] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific preferred examples, but the protection scope of the present invention is not limited thereby.

[0048] Such as figure 1 As shown, in this example, a three-dimensional multi-target tracking method for fusing images and laser point clouds, the steps include:

[0049] S1. Obtain point cloud data from lidar, detect the three-dimensional space position information of the target and extract point cloud features;

[0050] S2. Obtain image data from the camera, project the 3D boundary of the target onto the image plane, and extract image features of the projected area;

[0051] S3. Calculate the similarity matrix of the detected target and the tracking track on the point cloud three-dimensional space position information, point cloud features and image features, and merge the three similarity matrices;

[0052] S4. The combined similarity matrix is ​​used...

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Abstract

The invention discloses a three-dimensional multi-target tracking method fusing images and laser point clouds. The method is characterized by fusing the point cloud of a laser radar and the image dataof a camera to give full play to the complementary advantages between the point cloud data and the image data, extracting the three-dimensional space position information, the point cloud features and the image features of a target, matching a detection target and a tracking track, carrying out the state estimation on the tracking track in combination with a Kalman filter, thereby realizing the accurate and stable three-dimensional multi-target tracking. The method can be used for tracking and predicting the moving targets, such as pedestrians, vehicles, etc., in various unmanned vehicles, and can also be used in the fields of security monitoring, unmanned aerial vehicle-to-ground target reconnaissance and the like.

Description

technical field [0001] The invention belongs to the technical field of information and communication, and in particular relates to a three-dimensional multi-target tracking method. Background technique [0002] Most current multi-target tracking methods are based on a single sensor, such as lidar or camera alone. The point cloud data of lidar can provide the three-dimensional information of the target. Although it can better overcome the mutual occlusion problem of the target, the point cloud data only has geometric information, and it is difficult to identify the target attributes. Therefore, it is difficult to identify the target that reappears during the tracking process to identify. [0003] Since image data has richer information than point cloud data, multi-target tracking based on image and video data is currently the most researched method, but the image is greatly affected by light and shadow, which greatly improves the reliability of tracking. reduce. In additio...

Claims

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Application Information

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IPC IPC(8): G06T7/246G06T7/277G06T7/73G06T7/80G06K9/62G06N3/04G01S17/66
CPCG06T7/246G06T7/277G06T7/73G06T7/80G01S17/66G06T2207/10044G06T2207/10028G06T2207/20081G06T2207/20084G06T2207/30241G06T2207/20221G06V2201/07G06N3/045G06F18/22
Inventor 许娇龙聂一鸣肖良赵大伟
Owner NAT INNOVATION INST OF DEFENSE TECH PLA ACAD OF MILITARY SCI
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