Target tracking method and device, and storage medium

A target tracking and current target technology, applied in the field of equipment and storage media, and target tracking methods, can solve problems such as association errors, inaccurate matching, and wrong matching, so as to improve accuracy, avoid matching errors, and avoid target association errors Effect

Active Publication Date: 2020-02-07
BENEWAKE BEIJING TECH CO LTD
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AI Technical Summary

Problems solved by technology

[0004] If the same or similar feature descriptor operators are extracted, the matching may be inaccurate, resulting in an association error
For example, the extracted feature descriptor operators A and B are the same, and their corresponding targets should be A' and B', but when matching with the reference descriptor operator, A and B may be mistakenly associated with the target A' The corresponding reference descriptor operator matches

Method used

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  • Target tracking method and device, and storage medium
  • Target tracking method and device, and storage medium
  • Target tracking method and device, and storage medium

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Embodiment Construction

[0031] In order to better understand the above technical solutions, the technical solutions of the embodiments of this specification will be described in detail below through the drawings and specific examples. It should be understood that the embodiments of this specification and the specific features in the embodiments are the technical solutions of the embodiments of this specification. It is a detailed description, rather than a limitation to the technical solutions of this specification. In the case of no conflict, the embodiments of this specification and the technical features in the embodiments can be combined with each other.

[0032] An embodiment of the present invention provides a target tracking method, such as figure 1 As shown, including the following operations:

[0033] Step 101, performing density clustering on the point cloud data of the current frame to obtain at least one point cloud cluster.

[0034] In the embodiment of the present invention, the point ...

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Abstract

The embodiment of the invention provides a target tracking method and a device, and a storage medium. The method comprises the steps of performing density clustering on current frame point cloud datato obtain at least one point cloud cluster; matching the point cloud cluster with at least one current target by adopting at least one matching mode to obtain a matching result, and marking a target corresponding to the point cloud cluster according to the matching result; wherein the matching result indicates that no current target is matched with the point cloud cluster, and the target corresponding to the point cloud cluster is a new target, or the matching result indicates the point cloud cluster matched with the current target one by one, and the target corresponding to the point cloud cluster is the current target indicated by the matching result; wherein the at least one matching mode comprises feature matching, space matching and matching according to a weighting result. The targettracking method of the invention can improve the accuracy of target tracking.

Description

technical field [0001] The embodiments of this specification relate to the technical field of object tracking, and in particular, to an object tracking method, device, and storage medium. Background technique [0002] With the continuous improvement of the computing power of processors and other hardware and the rapid development of software algorithms, the implementation of target tracking has developed from traditional target tracking based on image processing technology to target tracking based on point cloud data. [0003] Target tracking schemes based on point cloud data generally segment and cluster point cloud data, extract local or global feature descriptor operators, and then match with reference descriptor operators to establish associations to achieve target tracking. [0004] If the same or similar feature descriptor operators are extracted, the matching may be inaccurate, resulting in an association error. For example, the extracted feature descriptor operators...

Claims

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Application Information

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IPC IPC(8): G06T7/246G06K9/62
CPCG06T7/246G06T2207/10028G06F18/22
Inventor 冯强疏达李远
Owner BENEWAKE BEIJING TECH CO LTD
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