Real-time multi-target tracking method and system in automatic driving

Abstract

The invention belongs to the technical field of automatic driving image recognition, and particularly provides a real-time multi-target tracking method and system in automatic driving, and the method comprises the steps: generating a serialization list of corresponding frames according to the parameters of each target frame image, and obtaining a corresponding detection frame; a tracker is initialized, all detected target frame images are cleaned, a detection frame with the confidence coefficient smaller than a minimum confidence coefficient threshold value is removed, and non-maximum suppression is executed; matching a detection frame of the optimal IOU of the previous frame by using a Hungary assignment algorithm; updating a Kalman tracker by using the detection frame of the optimal IOU of the previous frame, calculating Kalman gain, updating a state and a covariance, and outputting a state updating value as a tracking detection frame of the current frame; updating operation is executed for matching tracking, and a tracking result is visually displayed. The accuracy of target detection is improved, the stability of target detection is enhanced, a better real-time sensing result is provided for automatic driving, and the driving experience of a user is improved.

Description

technical field [0001] The present invention relates to the technical field of automatic driving image recognition, and more particularly, relates to a real-time multi-target tracking method in automatic driving. Background technique [0002] Visual object tracking is an important research direction in computer vision and has a wide range of applications, such as: video surveillance, human-computer interaction, unmanned driving, etc. In the past 20 to 30 years, the visual target tracking technology has made great progress, especially in the last two years, the target tracking method using deep learning has achieved satisfactory results, making the target tracking technology a breakthrough. [0003] Object tracking is an important topic in the field of machine vision. According to the number of tracking objects, it can be divided into single object tracking (Single Object Tracking, referred to as SOT) and multi-object tracking (Multi Object Tracking, referred to as MOT). [...

AI Technical Summary

Problems solved by technology

[0005] However, the existing multi-target tracking is often prone to target loss due to the large number of tracking IDs and frequent occlusions.

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