SLAM and target tracking method

Abstract

A single laser radar synchronous positioning and composition system has the defects of high energy consumption, low sensing resolution and unobvious depth value change. A single vision synchronous positioning and composition system is low in precision and is easily interfered by illumination change. The invention provides an SLAM and target tracking method, which comprises the following steps: (1)collecting three-dimensional point cloud data and image video data in a real urban road scene, and processing the three-dimensional point cloud data and the image video data; (2) performing segmentation according to a processing result to obtain a static scene and a dynamic scene; (3) processing the static scene, outputting a self-positioning and static scene sub-graph, processing the dynamic scene, outputting a dynamic target pose and track, and constructing a dynamic object sub-graph; and (4) finally, outputting the optimized self-positioning and scene land by adopting a graph optimizationglobal optimization method. The method can improve the positioning precision of a driverless vehicle in a large-scale complex scene, build a high-precision scene map with good consistency, and achievethe tracking of a moving target.

Description

technical field [0001] The present application belongs to the technical field of synchronous positioning and composition, and in particular relates to a SLAM and target tracking method. Background technique [0002] As one of the main development directions of automobile development, unmanned vehicles will play an increasingly important role in changing the way humans travel in the future. High-precision maps provide rich information for driverless platforms, and are the key to self-navigation for driverless cars. To build a high-precision map, the vehicle needs to perceive its own orientation in the real physical space and the three-dimensional structure of the scene, which relies on simultaneous positioning and composition technology. Traditional synchronous positioning and composition techniques focus on ideal static scenes without moving targets, such as country roads and forest trails, while the environment faced by unmanned vehicles often contains many moving targets,...

AI Technical Summary

Problems solved by technology

[0004] A single lidar synchronous positioning and mapping system has the characteristics of high energy consumption and low perceptual resolution. For scenes where the depth value does not change significantly

Images