Target tracking method and device, equipment and storage medium
A target tracking and target object technology, applied in the field of automatic driving, can solve the problems of inability to distinguish different vehicles, inaccurate target object tracking results, etc., and achieve the effect of improving accuracy
Pending Publication Date: 2021-07-02
NEUSOFT REACH AUTOMOBILE TECH (SHENYANG) CO LTD
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Problems solved by technology
However, in practical applications, since the self-driving vehicle is also in a driving state, it may not be possible to distinguish different vehicles with the same shape passing by.
That is, multiple vehicles of the same model passing by the vehicle successively may be mistaken for the same vehicle because they all appear in the same position of the captured image (for example, the lower right corner of the image), which will obviously lead to inaccurate tracking results of the target object
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[0063] The present invention will be described in detail below in conjunction with specific embodiments shown in the accompanying drawings. However, these embodiments do not limit the present invention, and any structural, method, or functional changes made by those skilled in the art according to these embodiments are included in the protection scope of the present invention.
[0064] The terminology used in the present invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used herein and in the appended claims, the singular forms "a", "the", and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It should also be understood that the term "and / or" as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.
[0065] It should be understood that although the terms first, second, etc. may be used in the pr...
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The invention discloses a target tracking method and device, equipment and a storage medium. The method comprises the steps of obtaining an image of an external environment of a current vehicle; determining an image frame of a target object in the image; determining the distance between the target object and the current vehicle based on currently obtained laser point cloud data and the image frame, wherein the laser point cloud data comprises point cloud data obtained by scanning the external environment based on a laser radar; and tracking the target object based on the distance between the target object and the current vehicle and the positioning information of the current vehicle. According to the invention, different vehicles with the same appearance passing by can be distinguished, so that the accuracy of tracking the target object can be improved.
Description
technical field [0001] The present invention relates to the field of automatic driving, and in particular to a target tracking method, device, equipment and storage medium. Background technique [0002] In related technologies, the self-driving vehicle can use the on-board camera to take multiple frames of images outside the vehicle during driving, and by detecting the correspondence between the target objects (such as other vehicles passing by the self-driving vehicle, etc.) The relationship realizes the tracking of the target object. However, in practical applications, since the self-driving vehicle is also in a driving state, it may not be possible to distinguish different vehicles with the same shape passing by. That is, multiple vehicles of the same model passing by the vehicle successively may be mistaken for the same vehicle because they all appear in the same position of the captured image (for example, the lower right corner of the image), which will obviously lead...
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IPC IPC(8): G06T7/20G01S17/08G06N3/08
CPCG06T7/20G01S17/08G06N3/08G06T2207/10028G06T2207/20081G06T2207/20084G06T2207/30252
Inventor 张时嘉
Owner NEUSOFT REACH AUTOMOBILE TECH (SHENYANG) CO LTD