Multi-target tracking method, device and equipment and storage medium
A technology of multi-target tracking and equipment, applied in the field of machine vision tracking, can solve the problems of track disappearance, multi-target target tracking interference, omission, etc., and achieve the effect of accurate tracking
Pending Publication Date: 2020-06-16
HANGZHOU DIANZI UNIV
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Problems solved by technology
For track management of multi-target tracking, target detection methods in the prior art, whether based on traditional logic detection methods or deep learning-based detection methods, will inevitably have omissions. If only relying on traditional detection methods, it is easy to The phenomenon that the track disappears faster occurs
Moreover, the visual tracking algorithm can only track targets with relatively simple scenes, and is not suitable for environments where there are many and chaotic scenes, bumpy roads, slopes, etc., which will cause great interference to multi-target target tracking.
It can be seen that the existing technology often cannot obtain accurate tracking results for multi-target tracking
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[0048] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
[0049] As used herein, the terms "comprising" and "having" and any variations thereof are intended to cover a non-exclusive inclusion, for example, a process, method, system, product or device comprising a series of steps or elements need not be limited to the ones explicitly listed Instead, other steps or elements not explicitly listed or inheren...
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The invention provides a multi-target tracking method, device and equipment and a storage medium. The method comprises the following steps: acquiring a road image shot by the mobile terminal equipmentwhen the mobile terminal equipment drives on the road in real time; according to the current frame of the road image, detecting to obtain at least one first target object, extracting feature information of at least one first target object; matching the feature information of the at least one first target object with the prediction feature information of the tracked target object to obtain the matching result, wherein the tracked target object comprises at least one second target object, and the tracking data of the tracked target object is updated according to the matching result, so that themobile terminal equipment can accurately track under a complex road condition.
Description
technical field [0001] The present invention relates to the technical field of machine vision tracking, in particular to a multi-target tracking method, device, equipment and storage medium. Background technique [0002] Intelligent mobile robots, autonomous driving and other technologies use sensors to perceive the external environment and their own state, and realize autonomous operations in an unstructured environment. They mainly include three main algorithm modules: perception, decision-making and planning, and control. Among them, multi-target tracking technology is an important part of perception and a coupling link between target detection and decision-making planning. In mobile robots or self-driving vehicles, multi-objective analysis technology can analyze the behavior pattern of target obstacles, predict the movement of obstacles, and provide a basis for risk assessment of decision-making and planning modules. At present, mobile robots with visual tracking functi...
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Login to View More IPC IPC(8): G06T7/246G06K9/62
CPCG06T7/246G06T2207/10016G06F18/253
Inventor 邬惠峰廖建峰赵建勇陈佰平
Owner HANGZHOU DIANZI UNIV