Target tracking method and device, terminal equipment and storage medium
By passing tracker data in the overlapping area of the two base stations, the problem of resource waste in target tracking is solved, and target tracking within the whole domain is achieved without adding algorithm computing units.
Patent Information
- Application Number
- CN202311615905.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-11-29
- Publication Date
- 2025-06-06
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
The prior art has the problem of resource waste in target tracking, especially when repeated tracking of the same target is performed on a single base station and across the entire domain.
By passing the tracker data in the overlapping area of the two base stations, tracking of the target to be tracked within the whole domain is achieved. The specific steps include: obtaining the tracker data of the target to be tracked, determining the overlapping area, and sending the data to the adjacent next base station when the target moves to the overlapping area.
There is no need to introduce new algorithmic computing units, which reduces the additional resource consumption of repeated tracking in the whole domain and achieves continuous tracking of the target across the whole domain.
Smart Images
Figure CN120103381A_ABST
Abstract
Description
Technical Field
[0001] The present application belongs to the field of computer technology, and in particular, relates to a target tracking method, apparatus, terminal device and storage medium. Background Art
[0002] Target tracking relies on the perception information of roadside base stations, but the detection range of a single base station is limited, and multiple base stations are usually required to relay to achieve target tracking in a larger range. However, a single base station can only track targets within the base station, which can easily lead to a break in the tracking chain of targets in the entire area.
[0003] In the related art, a new algorithm calculation unit is usually established separately to receive the tracking results of each base station to achieve overall tracking of the target in the entire domain. However, this method adds an additional algorithm calculation unit, resulting in repeated tracking of the same target in a single base station and in the entire domain, resulting in a waste of resources. Summary of the invention
[0004] The embodiments of the present application provide a target tracking method, apparatus, terminal device and storage medium, which can solve the problem of waste of target tracking resources.
[0005] A first aspect of an embodiment of the present application provides a target tracking method, which is applied to a first base station, wherein a detection area of the first base station includes a target to be tracked, and the target tracking method includes: obtaining tracker data generated by tracking the target to be tracked; determining a first overlapping area, wherein the first overlapping area is an overlapping area between a detection range of the first base station and a detection range of a second base station, and the second base station refers to a next base station adjacent to the first base station; when the target to be tracked moves to the first overlapping area, sending the tracker data to the second base station, so that the second base station continues to track the target to be tracked based on the tracker data.
[0006] Optionally, in a possible implementation manner of the first aspect, the tracker data is generated by the first base station, or the tracker data is obtained by sending through a third base station, wherein the third base station refers to a previous base station adjacent to the first base station.
[0007] Optionally, in another possible implementation manner of the first aspect, the tracker data is generated by the first base station, and the obtaining of the tracker data generated by tracking the target to be tracked includes:
[0008] Acquire sensing data within a detection range of the first base station;
[0009] Performing target detection on the target to be tracked based on the perception data to obtain a target detection result of the target to be tracked;
[0010] Based on the target detection result of the target to be tracked, a tracker is established for the target to be tracked, and tracker data of the target to be tracked is determined.
[0011] Optionally, in yet another possible implementation manner of the first aspect, the tracker data is obtained by sending through a third base station, and the obtaining of the tracker data generated by tracking the target to be tracked includes:
[0012] When the target to be tracked moves to a second overlapping area, the tracker data sent by the third base station is acquired, wherein the second overlapping area is an overlapping area between the detection range of the third base station and the detection range of the first base station.
[0013] Optionally, in another possible implementation of the first aspect, the target tracking method further includes:
[0014] At at least one time, the tracker data is updated based on the actual detection result of the target to be tracked and the tracker data at the historical time.
[0015] Optionally, in another possible implementation manner of the first aspect, updating the tracker data at at least one moment based on an actual detection result of the target to be tracked and tracker data at a historical moment includes:
[0016] For a target moment, based on the tracker data at a previous moment of the target moment, predict the tracker data at the target moment to determine the predicted tracker data at the target moment, wherein the target moment is any moment;
[0017] Determine whether the actual detection result at the target time matches the predicted tracker data;
[0018] If so, the tracker data is updated based on the actual detection results at the target time.
[0019] Optionally, in yet another possible implementation of the first aspect, the determining whether the actual detection result at the target time matches the predicted tracker data includes:
[0020] Based on the actual detection result at the target time, the actual target frame corresponding to the target to be tracked at the target time is obtained;
[0021] Based on the predicted tracker data at the target time, a predicted target frame corresponding to the target to be tracked at the target time is obtained;
[0022] Determine the intersection-over-union ratio between the actual target box and the predicted target box;
[0023] According to the intersection-over-union ratio between the actual target frame and the predicted target frame, it is judged whether the actual detection result at the target moment matches the predicted tracker data.
[0024] Optionally, in another possible implementation manner of the first aspect, the detection area of the first base station includes a plurality of targets to be tracked, and judging whether the actual detection result at the target moment matches the predicted tracker data according to the intersection-and-union ratio between the actual target frame and the predicted target frame includes:
[0025] For each target to be tracked, Hungarian association is performed based on the intersection-over-union ratio between the actual target frame of the target to be tracked and each predicted target frame to determine the predicted target frame corresponding to the target to be tracked;
[0026] Determine whether the intersection-over-union ratio between the actual target frame of the target to be tracked and the corresponding predicted target frame is greater than a preset intersection-over-union ratio threshold;
[0027] If so, determining that the actual detection result of the target to be tracked matches the corresponding predicted tracker data;
[0028] If not, it is determined that the actual detection result of the target to be tracked does not match the corresponding predicted tracker data.
[0029] Optionally, in yet another possible implementation of the first aspect, the target tracking method further includes:
[0030] If the actual detection result at the target time does not match the predicted tracker data, a new tracker is created for the target to be tracked.
[0031] Optionally, in another possible implementation manner of the first aspect, before obtaining the tracker data generated by tracking the target to be tracked, the target tracking method further includes:
[0032] Based on the reference time axis, time synchronization is performed on the first base station and the second base station.
[0033] Optionally, in another possible implementation manner of the first aspect, before obtaining the tracker data generated by tracking the target to be tracked, the target tracking method further includes:
[0034] Determine the displacement and angle difference between the coordinate system corresponding to the first base station and the coordinate system corresponding to the second base station;
[0035] Determine the translation and rotation parameters between the coordinate system corresponding to the first base station and the coordinate system corresponding to the second base station according to the displacement and the angle difference;
[0036] Based on the translation and rotation parameters, coordinate systems of the first base station and the second base station are synchronized.
[0037] Optionally, in another possible implementation of the first aspect, the tracker data includes at least one of the location, heading angle, longitude and latitude, identity information, color, category, length, width, height, and speed of the target to be tracked.
[0038] A second aspect of an embodiment of the present application provides a target tracking device, which is applied to a first base station, wherein a detection area of the first base station includes a target to be tracked, and the target tracking device includes:
[0039] A data acquisition module, used to acquire tracker data generated by tracking the target to be tracked;
[0040] An area determination module, configured to determine a first overlapping area, wherein the first overlapping area is an overlapping area between a detection range of the first base station and a detection range of the second base station, and the second base station refers to a next base station adjacent to the first base station;
[0041] The target tracking module is used to send the tracker data to the second base station when the target to be tracked moves to the first overlapping area, so that the second base station continues to track the target to be tracked based on the tracker data.
[0042] A third aspect of an embodiment of the present application provides a terminal device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the target tracking method of the first aspect when executing the computer program.
[0043] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the target tracking method of the first aspect described above is implemented.
[0044] A fifth aspect of an embodiment of the present application provides a computer program product. When the computer program product runs on a terminal device, the terminal device executes the target tracking method of the first aspect.
[0045] Compared with the prior art, the embodiments of the present application have the following beneficial effects: the embodiments of the present application disclose a target tracking method, apparatus, terminal device and storage medium, wherein the first base station in the method first obtains the tracker data generated for tracking the target to be tracked; then determines the first overlapping area, wherein the first overlapping area is the overlapping area between the detection range of the first base station and the detection range of the second base station, and the second base station refers to the next base station adjacent to the first base station; finally, when the target to be tracked moves to the first overlapping area, the tracker data is sent to the second base station, so that the second base station continues to track the target to be tracked based on the tracker data. Thus, by transmitting the tracker data in the overlapping area of the two base stations, the tracking of the target to be tracked in the entire domain is achieved, without the need to introduce a new algorithm calculation unit, thereby reducing the additional resource consumption of repeated tracking in the entire domain. BRIEF DESCRIPTION OF THE DRAWINGS
[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.
[0047] Figure 1 It is a flowchart of a target tracking method provided in Example 1 of the present application;
[0048] Figure 2 This is an example diagram of an overlapping area provided in Embodiment 2 of the present application;
[0049] Figure 3 It is a structural schematic diagram of a target tracking device provided in Example 3 of the present application;
[0050] Figure 4 It is a structural diagram of a terminal device provided in Example 4 of the present application. DETAILED DESCRIPTION
[0051] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.
[0052] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.
[0053] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.
[0054] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.
[0055] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.
[0056] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.
[0057] It should be understood that the size of the serial numbers of each step in this embodiment does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of this application.
[0058] In the related art, a new algorithm calculation unit is usually established separately to receive the tracking results of each base station to achieve overall tracking of the target in the entire domain. However, this method adds an additional algorithm calculation unit, resulting in repeated tracking of the same target in a single base station and in the entire domain, resulting in a waste of resources.
[0059] In view of this, the embodiments of the present application provide a target tracking method, apparatus, terminal device and storage medium, which realize the tracking of the target to be tracked in the entire domain by transmitting tracker data in the overlapping area of two base stations, without introducing a new algorithm calculation unit, thereby reducing the additional resource consumption of repeated tracking in the entire domain.
[0060] In order to illustrate the technical solution of the present application, specific embodiments are provided below.
[0061] Reference Figure 1 , shows a flow chart of a target tracking method provided by an embodiment of the present application. The target tracking method is applied to a first base station, which may be a base station in a one-way road, and the detection area of the first base station includes the target to be tracked.
[0062] like Figure 1 As shown, the target tracking method may include the following steps:
[0063] Step 101: Acquire tracker data generated by tracking a target to be tracked.
[0064] The tracker data is a data set containing information about the target's motion and status, which may include one or more of the following data: the location, heading angle, longitude and latitude, identity information, color, category, length, width, height, and speed of the target to be tracked.
[0065] In the embodiment of the present application, if the first base station is the head base station, and the head base station is the first base station in a one-way road, then when the target to be tracked enters the one-way road, the head base station establishes a tracker for the target to be tracked, tracks the target to be tracked, and generates tracker data. If the first base station is not the first base station, for example, it is the second base station, then the second base station does not need to create a new tracker, but directly receives the tracker data transmitted by the head base station and continues to track the target to be tracked.
[0066] That is, the tracker data is generated by the first base station, or the tracker data is sent by the third base station, wherein the third base station refers to the previous base station adjacent to the first base station.
[0067] In a possible implementation, if the tracker data is generated by the first base station, that is, the first base station is the head base station, then the above step 101 may include: obtaining perception data within the detection range of the first base station; performing target detection on the target to be tracked based on the perception data to obtain the target detection result of the target to be tracked; based on the target detection result of the target to be tracked, establishing a tracker for the target to be tracked, and determining the tracker data of the target to be tracked.
[0068] In another possible implementation, if the tracker data is obtained by sending through a third base station, that is, the first base station is the remaining base station, then the above step 101 may include: when the target to be tracked moves to a second overlapping area, obtaining the tracker data sent by the third base station, wherein the second overlapping area is an overlapping area between the detection range of the third base station and the detection range of the first base station. In this way, data transmission across base stations and continuity of the tracking chain are achieved based on tracker transmission.
[0069] In order to ensure the real-time and accuracy of the tracker transmission, before step 101, all base stations need to be synchronized in time and coordinate system.
[0070] For time synchronization, the first base station and the second base station may be time synchronized based on a reference time axis. Specifically, the reference time axis may be GPS time (Global Positioning System Time), which is a time standard provided by a global positioning system satellite and may be used as a reference for time synchronization.
[0071] As an example, each base station will record the timestamp of its own information acquisition, and these timestamps can be regarded as the time axis of each base station. These time axes are then compared with the reference time axis, and the time offset of each base station relative to the reference time axis can be obtained by calculating the difference between the two. In order to achieve time synchronization, it is necessary to determine whether the difference between the time when the base station obtains the information and the reference time is within a pre-set threshold range. If the time difference of a base station is less than the threshold, it means that the time synchronization of the base station is close to the reference time, and the time axis of the base station can be considered reliable. For multiple base stations, find the result whose time difference is closest to the reference time within the threshold, that is, the base station with the smallest time difference, and then synchronize its time axis with the reference time axis. In this way, all base stations can refer to the reference time axis to achieve time synchronization between base stations.
[0072] For coordinate system synchronization, the displacement and angle difference between the coordinate system corresponding to the first base station and the coordinate system corresponding to the second base station can be determined; based on the displacement and angle difference, the translation and rotation parameters between the coordinate system corresponding to the first base station and the coordinate system corresponding to the second base station can be determined; based on the translation and rotation parameters, the coordinate systems of the first base station and the second base station are synchronized. Specifically, the translation and rotation parameters are the rotation angles around the x, y, and z axes and the translation directions along the x, y, and z axes. The conversion relationship between the base stations can be obtained through the translation and rotation parameters, thereby completing the coordinate system synchronization.
[0073] Step 102: determine a first overlapping area.
[0074] The first overlapping area is an overlapping area between the detection range of the first base station and the detection range of the second base station, and the second base station refers to the next base station adjacent to the first base station.
[0075] Reference Figure 2 , is an example diagram of an overlapping area provided in an embodiment of the present application. Figure 2 As shown, the left side is the first base station, the right side is the second base station, and the dark area on the road between the two base stations is the first overlapping area.
[0076] Step 103: When the target to be tracked moves to the first overlapping area, the tracker data is sent to the second base station, so that the second base station continues to track the target to be tracked based on the tracker data.
[0077] Among them, when the target to be tracked moves to the first overlapping area, it means that the target to be tracked is about to leave the detection range of the first base station and is about to enter the detection range of the second base station. At this time, the tracker data is sent to the second base station, so that the second base station can continue to track the target to be tracked based on the tracker data sent by the first base station. Subsequently, the second base station can also continue to pass the tracker data to the next base station when the target to be tracked is about to leave the detection range of the second base station. In this way, data transmission across base stations and the continuity of the tracking chain are achieved based on tracker transmission. In addition, the tracker data is transmitted in the overlapping area of the detection ranges of the two base stations to avoid the problem of tracking loss, and continuous tracking of the target to be tracked in the entire domain can be achieved.
[0078] Furthermore, in order to prevent the target from being lost, at least one time, preferably at each time, each base station will update the tracker data within its detection range in real time. Specifically, the tracker data can be updated based on the actual detection result of the target and the tracker data at the historical time.
[0079] In a possible implementation, taking the update of the tracker data corresponding to the target to be tracked by the first base station as an example, the tracker data at the target moment can be predicted based on the tracker data Trki(k-1) at the previous moment of the target moment, and the predicted tracker data Trki(k|k-1) at the target moment can be determined, wherein the target moment is any moment; it is determined whether the actual detection result Dj(k) at the target moment matches the predicted tracker data Trki(k|k-1); if so, the tracker data is updated based on the actual detection result Dj(k) at the target moment. Thus, by associating and matching the prediction result with the implementation detection result, a prediction-detection pair is obtained, and then the tracker data is updated using the detection result.
[0080] It should be noted that if the actual detection result at the target moment does not match the predicted tracker data, a new tracker should be created for the target to be tracked to avoid tracking omissions.
[0081] Furthermore, the IOU (Intersection over Union) matching method can be used to determine whether the actual detection result at the target moment matches the predicted tracker data. IOU matching is usually used to calculate the degree of overlap between the predicted bounding box and the real bounding box. That is, as a possible implementation method of the embodiment of the present application, the actual target box corresponding to the target to be tracked at the target moment can be obtained based on the actual detection result at the target moment; the predicted target box corresponding to the target to be tracked at the target moment can be obtained based on the predicted tracker data at the target moment; the intersection over union ratio between the actual target box and the predicted target box is determined; according to the intersection over union ratio between the actual target box and the predicted target box, it is determined whether the actual detection result at the target moment matches the predicted tracker data.
[0082] In a possible implementation, if there are too many targets in the sensing area of the base station, it is impossible to accurately distinguish the predicted bounding box actually corresponding to each target. Therefore, when the detection area of the first base station includes multiple targets to be tracked, the Hungarian association method can be used to determine. Among them, the Hungarian association algorithm is a classic algorithm for solving the assignment problem. The assignment problem is to find the optimal set of assignments in a given cost or weight matrix to meet specific constraints. Specifically, first, for each target to be tracked, a Hungarian association is performed based on the intersection and union ratio between the actual target box of the target to be tracked and each predicted target box to determine the predicted target box corresponding to the target to be tracked; determine whether the intersection and union ratio between the actual target box of the target to be tracked and the corresponding predicted target box is greater than a preset intersection and union ratio threshold; if so, determine that the actual detection result of the target to be tracked matches the corresponding predicted tracker data; if not, determine that the actual detection result of the target to be tracked does not match the corresponding predicted tracker data.
[0083] It should be understood that the intersection-over-union ratio threshold can be determined in combination with the actual application scenario and the tracking accuracy requirement, and the embodiments of the present application are not limited to this.
[0084] In a possible implementation, the tracker data also includes a unique identifier ID for distinguishing each target to be tracked. To avoid duplication of unique identifiers ID between different base stations, the unique identifier ID can be expanded into a set of three types of information: the base station number that generates the ID, the base station number where the current tracker is located, and the generated ID.
[0085] In the target tracking method disclosed in the above embodiment of the present application, the first base station first obtains the tracker data generated for tracking the target to be tracked; then determines the first overlapping area, wherein the first overlapping area is the overlapping area of the detection range of the first base station and the detection range of the second base station, and the second base station refers to the next base station adjacent to the first base station; finally, when the target to be tracked moves to the first overlapping area, the tracker data is sent to the second base station, so that the second base station continues to track the target to be tracked based on the tracker data. Thus, by transmitting the tracker data in the overlapping area of the two base stations, the tracking of the target to be tracked in the entire domain is achieved, without the need to introduce a new algorithm calculation unit, thereby reducing the additional resource consumption of repeated tracking in the entire domain.
[0086] See also Figure 3 , shows a schematic diagram of the structure of a target tracking device provided in Example 3 of the present application. For the sake of convenience, only the parts related to the example of the present application are shown.
[0087] The target tracking device may specifically include the following modules:
[0088] The data acquisition module 301 is used to acquire the tracker data generated by tracking the target to be tracked.
[0089] The area determination module 302 is used to determine a first overlapping area, wherein the first overlapping area is an overlapping area between a detection range of a first base station and a detection range of a second base station, and the second base station refers to a next base station adjacent to the first base station.
[0090] The target tracking module 303 is configured to send the tracker data to the second base station when the target to be tracked moves to the first overlapping area, so that the second base station continues to track the target to be tracked based on the tracker data.
[0091] The target tracking device disclosed in the above embodiment of the present application is applied to the first base station. The first base station first obtains the tracker data generated for tracking the target to be tracked; then determines the first overlapping area, wherein the first overlapping area is the overlapping area of the detection range of the first base station and the detection range of the second base station, and the second base station refers to the next base station adjacent to the first base station; finally, when the target to be tracked moves to the first overlapping area, the tracker data is sent to the second base station, so that the second base station continues to track the target to be tracked based on the tracker data. Therefore, by transmitting the tracker data in the overlapping area of the two base stations, the tracking of the target to be tracked in the whole domain is realized, without introducing a new algorithm calculation unit, reducing the additional resource consumption of repeated tracking in the whole domain.
[0092] Furthermore, in a possible implementation of the embodiment of the present application, the tracker data is generated by the first base station, or the tracker data is obtained by sending through a third base station, wherein the third base station refers to the previous base station adjacent to the first base station.
[0093] Further, in another possible implementation of the embodiment of the present application, the tracker data is generated by the first base station, and the data acquisition module 301 may specifically include the following submodules:
[0094] The first acquisition submodule is used to acquire the sensing data within the detection range of the first base station.
[0095] The first processing submodule is used to perform target detection on the target to be tracked based on the perception data to obtain a target detection result of the target to be tracked.
[0096] The second processing submodule is used to establish a tracker for the target to be tracked based on the target detection result of the target to be tracked, and determine the tracker data of the target to be tracked.
[0097] Further, in another possible implementation of the embodiment of the present application, the tracker data is obtained by sending through a third base station, and the data acquisition module 301 may specifically include the following submodules:
[0098] The second acquisition submodule is used to acquire the tracker data sent by the third base station when the target to be tracked moves to the second overlapping area, wherein the second overlapping area is the overlapping area of the detection range of the third base station and the detection range of the first base station.
[0099] Furthermore, in another possible implementation of the embodiment of the present application, the target tracking device may further include the following modules:
[0100] The first processing module is used to update the tracker data at at least one moment based on the actual detection result of the target to be tracked and the tracker data at the historical moment.
[0101] Furthermore, in another possible implementation of the embodiment of the present application, the first processing module may specifically include the following submodules:
[0102] The third processing submodule is used to predict the tracker data at the target moment based on the tracker data at the previous moment of the target moment, and determine the predicted tracker data at the target moment, wherein the target moment is any moment.
[0103] The fourth processing submodule is used to determine whether the actual detection result at the target moment matches the predicted tracker data.
[0104] The fifth processing submodule is used to update the tracker data based on the actual detection result at the target time.
[0105] Furthermore, in another possible implementation of the embodiment of the present application, the fourth processing submodule may specifically include the following units:
[0106] The first processing unit is used to obtain an actual target frame corresponding to the target to be tracked at the target time based on the actual detection result at the target time.
[0107] The second processing unit is used to obtain a predicted target frame corresponding to the target to be tracked at the target time based on the predicted tracker data at the target time.
[0108] The third processing unit is used to determine the intersection-over-union ratio between the actual target frame and the predicted target frame.
[0109] The fourth processing unit is used to determine whether the actual detection result at the target moment matches the predicted tracker data according to the intersection-and-union ratio between the actual target frame and the predicted target frame.
[0110] Furthermore, in another possible implementation of the embodiment of the present application, the detection area of the above-mentioned first base station includes multiple targets to be tracked, and the above-mentioned fourth processing unit is specifically used to: for each target to be tracked, perform Hungarian association according to the intersection and union ratio between the actual target frame of the target to be tracked and each predicted target frame to determine the predicted target frame corresponding to the target to be tracked; determine whether the intersection and union ratio between the actual target frame of the target to be tracked and the corresponding predicted target frame is greater than a preset intersection and union ratio threshold; if so, determine that the actual detection result of the target to be tracked matches the corresponding predicted tracker data; if not, determine that the actual detection result of the target to be tracked does not match the corresponding predicted tracker data.
[0111] Furthermore, in another possible implementation of the embodiment of the present application, the target tracking device may further include the following modules:
[0112] The second processing module is used for creating a new tracker for the target to be tracked if the actual detection result of the target at the moment does not match the predicted tracker data.
[0113] Furthermore, in another possible implementation of the embodiment of the present application, the target tracking device may further include the following modules:
[0114] The third processing module is used to perform time synchronization on the first base station and the second base station based on a reference time axis.
[0115] Furthermore, in another possible implementation of the embodiment of the present application, the target tracking device may further include the following modules:
[0116] The fourth processing module is used to determine the displacement and angle difference between the coordinate system corresponding to the first base station and the coordinate system corresponding to the second base station.
[0117] The fifth processing module is used to determine the translation and rotation parameters between the coordinate system corresponding to the first base station and the coordinate system corresponding to the second base station according to the displacement and the angle difference.
[0118] The sixth processing module is used to synchronize the coordinate systems of the first base station and the second base station based on the translation and rotation parameters.
[0119] Furthermore, in another possible implementation of the embodiment of the present application, the above-mentioned tracker data includes at least one of the positioning, heading angle, longitude and latitude, identity information, color, category, length, width, height, and speed of the target to be tracked.
[0120] The target tracking device provided in the embodiment of the present application can be applied in the aforementioned method embodiment. For details, please refer to the description of the aforementioned method embodiment, which will not be repeated here.
[0121] Figure 4 Schematic diagram of the structure of the terminal device provided in the embodiment of the present application. Figure 4 As shown, the terminal device 400 of this embodiment includes: at least one processor 410 ( Figure 4 Only one processor is shown in the figure), a memory 420, and a computer program 421 stored in the memory 420 and executable on the at least one processor 410, wherein the processor 410 implements the steps in the above target tracking method embodiment when executing the computer program 421.
[0122] The terminal device 400 may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The terminal device may include, but is not limited to, a processor 410 and a memory 420. Those skilled in the art will appreciate that Figure 4 It is only an example of the terminal device 400 and does not constitute a limitation on the terminal device 400. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components, for example, it may also include input and output devices, network access devices, etc.
[0123] The processor 410 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.
[0124] In some embodiments, the memory 420 may be an internal storage unit of the terminal device 400, such as a hard disk or memory of the terminal device 400. In other embodiments, the memory 420 may also be an external storage device of the terminal device 400, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the terminal device 400. Further, the memory 420 may also include both an internal storage unit of the terminal device 400 and an external storage device. The memory 420 is used to store an operating system, an application program, a boot loader (Boot Loader), data, and other programs, such as the program code of the computer program, etc. The memory 420 may also be used to temporarily store data that has been output or is to be output.
[0125] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.
[0126] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.
[0127] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.
[0128] In the embodiments provided in the present application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.
[0129] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
[0130] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.
[0131] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.
[0132] The present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed through a computer program product. When the computer program product runs on a terminal device, the terminal device can implement the steps in the above-mentioned method embodiments when executing.
[0133] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application is described in detail with reference to the above-mentioned embodiments, a person skilled in the art should understand that the technical solutions described in the above-mentioned embodiments can still be modified, or some of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.
Claims
1. A target tracking method, It is characterized in that Applied to a first base station, the detection area of the first base station includes a target to be tracked, and the target tracking method includes: Acquire tracker data generated by tracking the target to be tracked; Determine a first overlapping area, wherein the first overlapping area is an overlapping area between a detection range of the first base station and a detection range of a second base station, and the second base station refers to a next base station adjacent to the first base station; When the target to be tracked moves to the first overlapping area, the tracker data is sent to the second base station, so that the second base station continues to track the target to be tracked based on the tracker data.
2. The target tracking method according to claim 1, It is characterized in that The tracker data is generated by the first base station, or the tracker data is sent by a third base station, wherein the third base station refers to a previous base station adjacent to the first base station.
3. The target tracking method according to claim 2, It is characterized in that The tracker data is generated by the first base station, and the acquiring the tracker data generated by tracking the target to be tracked includes: Acquire sensing data within a detection range of the first base station; Performing target detection on the target to be tracked based on the perception data to obtain a target detection result of the target to be tracked; Based on the target detection result of the target to be tracked, a tracker is established for the target to be tracked, and tracker data of the target to be tracked is determined.
4. The target tracking method according to claim 2, It is characterized in that The tracker data is obtained by sending through a third base station, and obtaining the tracker data generated by tracking the target to be tracked includes: When the target to be tracked moves to a second overlapping area, the tracker data sent by the third base station is acquired, wherein the second overlapping area is an overlapping area between a detection range of the third base station and a detection range of the first base station.
5. The target tracking method according to claim 1, It is characterized in that The target tracking method further includes: At at least one moment, the tracker data is updated based on the actual detection result of the target to be tracked and the tracker data at the historical moment.
6. The target tracking method according to claim 5, It is characterized in that The updating of the tracker data at at least one moment based on the actual detection result of the target to be tracked and the tracker data at the historical moment includes: For a target moment, based on the tracker data of a previous moment of the target moment, predict the tracker data of the target moment to determine the predicted tracker data of the target moment, wherein the target moment is any moment; determining whether the actual detection result at the target time matches the predicted tracker data; If so, the tracker data is updated based on the actual detection result at the target time.
7. The target tracking method according to claim 6, It is characterized in that The determining whether the actual detection result at the target time matches the predicted tracker data includes: Based on the actual detection result at the target time, an actual target frame corresponding to the target to be tracked at the target time is obtained; Based on the predicted tracker data at the target moment, obtaining a predicted target frame corresponding to the target to be tracked at the target moment; Determine an intersection-over-union ratio between the actual target frame and the predicted target frame; According to the intersection-and-union ratio between the actual target frame and the predicted target frame, it is determined whether the actual detection result at the target moment matches the predicted tracker data.
8. The target tracking method according to claim 7, It is characterized in that The detection area of the first base station includes a plurality of targets to be tracked, and judging whether the actual detection result of the target at a time point matches the predicted tracker data according to the intersection-and-union ratio between the actual target frame and the predicted target frame includes: For each of the targets to be tracked, performing Hungarian association according to the intersection-and-union ratio between the actual target frame of the target to be tracked and each predicted target frame, so as to determine the predicted target frame corresponding to the target to be tracked; Determine whether the intersection-and-union ratio between the actual target frame of the target to be tracked and the corresponding predicted target frame is greater than a preset intersection-and-union ratio threshold; If so, determining that the actual detection result of the target to be tracked matches the corresponding predicted tracker data; If not, it is determined that the actual detection result of the target to be tracked does not match the corresponding predicted tracker data.
9. The target tracking method according to claim 6, It is characterized in that The target tracking method further includes: If the actual detection result at the target time does not match the predicted tracker data, a new tracker is created for the target to be tracked.
10. The target tracking method according to any one of claims 1 to 9, It is characterized in that Before obtaining the tracker data generated by tracking the target to be tracked, the target tracking method further includes: Based on a reference time axis, time synchronization is performed on the first base station and the second base station.
11. The target tracking method according to any one of claims 1 to 9, It is characterized in that Before obtaining the tracker data generated by tracking the target to be tracked, the target tracking method further includes: Determine a displacement and an angle difference between a coordinate system corresponding to the first base station and a coordinate system corresponding to the second base station; Determine, according to the displacement and the angle difference, a translation and rotation parameter between a coordinate system corresponding to the first base station and a coordinate system corresponding to the second base station; Based on the translation and rotation parameters, coordinate systems of the first base station and the second base station are synchronized.
12. The target tracking method according to any one of claims 1 to 9, It is characterized in that The tracker data includes at least one of the location, heading angle, longitude and latitude, identity information, color, category, length, width, height, and speed of the target to be tracked.
13. A target tracking device, It is characterized in that Applied to a first base station, the detection area of the first base station includes a target to be tracked, and the target tracking device includes: A data acquisition module, used to acquire tracker data generated by tracking the target to be tracked; an area determination module, configured to determine a first overlapping area, wherein the first overlapping area is an overlapping area between a detection range of the first base station and a detection range of a second base station, and the second base station refers to a next base station adjacent to the first base station; The target tracking module is used to send the tracker data to the second base station when the target to be tracked moves to the first overlapping area, so that the second base station continues to track the target to be tracked based on the tracker data.
14. A terminal device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, It is characterized in that When the processor executes the computer program, the method according to any one of claims 1 to 12 is implemented.
15. A computer-readable storage medium storing a computer program. It is characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 12 is implemented.