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Calculation method, device, electronic equipment and storage medium of target existence probability

A probability and target technology, which is applied in the field of target existence probability calculation, device, electronic equipment and storage medium, and can solve the problems of not reflecting tracker performance well, poor PoE resolution, and steep rise and fall of values.

Active Publication Date: 2020-10-02
HUMAN HORIZONS SHANGHAI NEW ENERGY POWERTRAIN TECH CO LTD +1
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] 1) PoE The value of the rise and fall is relatively steep, which does not reflect the target probability in the sensor field of view very well ( ) and target detection probability ( PD ) slow change;
[0004] 2) PoE poor resolution;
[0005] 3) Does not reflect tracker performance well

Method used

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  • Calculation method, device, electronic equipment and storage medium of target existence probability
  • Calculation method, device, electronic equipment and storage medium of target existence probability
  • Calculation method, device, electronic equipment and storage medium of target existence probability

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Embodiment Construction

[0035] In the following, only some exemplary embodiments are briefly described. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present application. Accordingly, the drawings and descriptions are to be regarded as illustrative in nature and not restrictive.

[0036] figure 1 It is a flowchart of a method for calculating a target existence probability according to an embodiment of the present application. like figure 1 As shown, the calculation method of the target existence probability may include:

[0037] Step S110, receiving target detection data reported by the sensor;

[0038] Step S120, obtain the target detection probability according to the target detection data ;

[0039] Step S125, establishing a sensor FOV probability model according to the sensor field of view;

[0040] Step S130, according to the data association algorithm, select the mea...

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Abstract

Embodiments of the present application provide a method, device, electronic device, and storage medium for calculating a target existence probability. The specific implementation plan is: receive the target detection data reported by the sensor; obtain the target detection probability according to the target detection data PD ; Establish the sensor FOV probability model according to the sensor field of view; according to the data association algorithm, select the measurement closest to the target track as the filter input, and obtain the innovation covariance matrix after filtering S and Mahalanobis distance d , according to the target detection probability PD , Innovation covariance matrix S , Mahalanobis distance d And the sensor FOV probability model to calculate the target existence probability. The embodiment of the present application has better resolution for the target existence probability, and can well reflect the sensor FOV probability P S and target detection probability PD changes slowly and is a good indicator of tracker performance.

Description

technical field [0001] The present application relates to the technical field of moving target detection, in particular to a method, device, electronic equipment and storage medium for calculating the probability of existence of a target. Background technique [0002] Target existence probability is an important attribute of target tracking, which represents how likely the tracked target really exists. When judging whether the target is a false target, the target existence probability ( PoE , Probability of Existence) is an important reference index. The existing target existence probability calculation method has the following defects: [0003] 1) PoE The value of the rise and fall is relatively steep, which does not reflect the target probability in the sensor field of view very well ( ) and target detection probability ( PD ) slow change; [0004] 2) PoE poor resolution; [0005] 3) Does not reflect tracker performance well. Contents of the invention [0006]...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06K9/62G06N7/00G01C21/00G01S13/66G01V8/10
CPCG01S13/66G01V8/10G01C21/00G06V2201/07G06N7/01G06F18/25
Inventor 丁磊杨天锡栾辉褚世冲
Owner HUMAN HORIZONS SHANGHAI NEW ENERGY POWERTRAIN TECH CO LTD