Multi-target tracking method and system and storage medium
A multi-target tracking and target technology, which is applied in the field of radar signal processing, can solve the problem that the real-time target correlation accuracy rate of vehicle-mounted millimeter-wave radar is difficult to guarantee the robustness of Kalman filter, etc., so as to reduce the probability of target tracking loss and improve target tracking accuracy , the effect of improving the accuracy rate
Pending Publication Date: 2022-01-07
SOUTHEAST UNIV +1
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[0005] The embodiment of the present application provides a multi-target tracking method, system and storage medium to solve the problem that the real-time performance of the vehicle-mounted millimeter-wave radar, the correct rate of target association, and the robustness of the Kalman filter are difficult to guarantee in complex clutter and multi-target scenarios. The problem
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[0026] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Apparently, the described embodiments are only some of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts belong to the scope of protection of this application.
[0027] The terms "first", "second", "third", etc. (if any) in the description and claims of the present application and the above drawings are used to distinguish similar objects and not necessarily to describe a specific order or sequentially. It should be understood that the items so described are interchangeable under appropriate circumstances. Furthermore, the terms "comprising" and "having", as well as any variations thereof, are intended to cover a non-exclusive inclusion...
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The invention provides a multi-target tracking method and system and a storage medium, and the method comprises the steps of building a neighbor constraint equation through employing target parameters during target association, thereby reducing the probability of tracking failure or false target generation caused by association errors, improving the target association accuracy, and reducing the target missing probability. In addition, in order to reduce radar measurement errors, multi-frame data are used for linear fitting and projection as Kalman filtering input, so that a target random variable mean value and an error covariance matrix approach Gaussian distribution, and the tracking precision of the target is improved.
Description
technical field [0001] The present application relates to the field of radar signal processing, in particular to a multi-target tracking method, system and storage medium. Background technique [0002] Due to the advantages of miniaturization and low cost, millimeter-wave radar has received more and more attention and applications in vehicle intelligent assisted driving and automatic driving. For vehicle-mounted millimeter-wave radar target detection, it is very important to correctly associate and establish the target track. As the key technology, multi-target association and tracking includes two processes of data association and filtering. The existing classic association algorithms mainly include nearest neighbor method, probability class association method, multi-hypothesis association method and association method based on neural network. Among them, the multi-hypothesis association method and the neural network-based association method have high algorithm complexity...
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IPC IPC(8): G06T7/277
CPCG06T7/277G06T2207/10044Y02T10/40
Inventor徐刚刘韬张慧黄岩洪伟
OwnerSOUTHEAST UNIV