Obstacle tracking method, device, storage medium and electronic equipment

A technology of obstacle and identity, applied in the computer field, can solve the problems of missed detection or false detection, obstacles cannot be matched, and reduce the success rate of obstacle matching, so as to achieve the effect of improving tracking efficiency and increasing success rate

Active Publication Date: 2021-09-07
BEIJING SANKUAI ONLINE TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, when detecting obstacles in the prior art, missed or false detections may occur, resulting in the failure to match the same obstacle in two adjacent frames of laser point clouds, reducing the success rate of obstacle matching, resulting in no Human devices can only track fewer obstacles

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  • Obstacle tracking method, device, storage medium and electronic equipment
  • Obstacle tracking method, device, storage medium and electronic equipment
  • Obstacle tracking method, device, storage medium and electronic equipment

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Embodiment Construction

[0050] In the existing technology, the unmanned equipment first detects each frame of laser point cloud to obtain obstacle information. Wherein, the information of the obstacle at least includes: the type of the obstacle. Then, depending on the type of obstacles detected, each obstacle in the laser point cloud is only matched once every two frames. When matching the obstacles in every two frames of laser point cloud, for each obstacle in the previous frame of laser point cloud, according to the matching range of the obstacle, from the obstacles in the next frame of laser point cloud Screen out the obstacles within the matching range as matching obstacles. According to the type of the obstacle and the types of each matching obstacle, the matching obstacle matching the obstacle is determined, and the current motion state of the matching obstacle that is successfully matched is updated.

[0051]However, for obstacles that are far away from the unmanned equipment, due to the sma...

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Abstract

This specification discloses an obstacle tracking method, device, storage medium and electronic equipment. The embodiment of this specification aims at obstacles in every two frames of laser point cloud, first according to the type of each obstacle in the two frames of laser point cloud, The obstacles in the two frames of laser point clouds are matched. Then, according to the point cloud data of the unmatched obstacles in the two frames of laser point clouds, the unmatched obstacles in the two frames of laser point clouds are matched. After two matches, the motion state of each obstacle in the two frames of laser point clouds is updated. In the second match, it is no longer based on the type of obstacle, but based on the point cloud data of the obstacle, which can avoid the failure of the same obstacle in the two frames of laser point cloud to be matched due to obstacle detection. problem, the success rate of obstacle matching in the two frames of laser point clouds can be improved, thereby improving the tracking efficiency of obstacles.

Description

technical field [0001] This description relates to the field of computer technology, and in particular to an obstacle tracking method, device, storage medium and electronic equipment. Background technique [0002] In the field of unmanned driving, the most basic requirement for unmanned equipment to realize unmanned driving is to be able to perceive its surrounding environment. In the sensing link, it is necessary to first detect obstacles in the environment around the unmanned device, and then track the obstacles, so as to adjust its own motion state according to the motion state of the tracked obstacles. Among them, obstacle tracking includes: obstacle matching and updating the movement state of obstacles. [0003] In the prior art, the laser point cloud within the preset range of the unmanned device is acquired through the laser radar, and obstacle detection is performed on the acquired laser point cloud to obtain various obstacles. Then, each obstacle in two adjacent f...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S17/93G01S17/66
CPCG01S17/93G01S17/66G06V20/58G06T7/246G06T2207/10028G06T2207/10016G06T2207/30261G06V10/761G06T7/20
Inventor 夏华夏蔡山波
Owner BEIJING SANKUAI ONLINE TECH CO LTD
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