Water surface multi-target rapid identification tracking method based on laser radar

Abstract

The invention relates to a water surface multi-target rapid identification tracking method based on a laser radar, and belongs to the technical field of environmental perception. According to the method, the laser radar point cloud is corrected to a real world coordinate system through information such as the position, the speed and the direction of the GPS; downsampling is carried out on the laser radar point cloud at the specified interval; the point cloud is divided into mutually independent tracking targets by using an Euclidean distance clustering method; a k-d tree point cloud search model is constructed for subsequent laser radar point cloud data; the point cloud data in a neighborhood with a specified radius is intercepted by taking the target as a center; and the point cloud is divided into one or more to-be-selected updating targets through an Euclidean distance clustering method, the most similar updating target is selected to replace the original tracking target through aniterative nearest point registration algorithm, and the moving direction and distance of the tracking target are obtained through a registration matrix. According to the method, a plurality of water surface targets can be rapidly detected and tracked so that the operation time of point cloud processing is shortened, and the identification efficiency and tracking precision of the target are greatlyimproved.

Description

technical field [0001] The invention relates to a water surface target identification and tracking method, in particular to a water surface multi-target rapid identification and tracking method based on laser radar. The invention belongs to the field of environment perception technology. Background technique [0002] With its long detection distance and high accuracy, lidar has become the most indispensable sensor for the autonomous driving environment perception system. Since the calm water surface will not be detected by lidar, it can accurately detect obstacles that are not easily detected by other environmental sensing devices, such as partially exposed water surface or floating objects on the water surface. At the same time, lidar has a high detection frequency, which can realize rapid detection and continuous tracking of surface targets. Therefore, the rapid recognition and tracking of multi-targets on the water surface based on lidar is a very important environmenta...

AI Technical Summary

Problems solved by technology

However, the shortcomings of marine radar, such as easy distortion, susceptibility to interference, and low accuracy of ranging and direction finding, make it unable to meet the accuracy requirements of unmanned ships' close-range environment perception.

Therefore, it is difficult to realize the autonomous obstacle avoidance of unmanned ships solely by relying on marine radar equipment.

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