Radar detection and visual locking coordinated moving target high-precision tracking method and system

Abstract

The invention discloses a moving target high-precision tracking method based on cooperation of radar detection and visual locking, and belongs to the technical field of intelligent unmanned platforms. The system comprises a laser radar, a visual identification camera, a double-master-control heterogeneous computing unit, an Ackerman chassis and a three-axis holder. The laser radar firstly scans and positions a moving object, and sends the coordinate position of a target to the three-dimensional cloud platform to accurately determine the position of the target; and then, in the received coordinate area, the visual end adopts an adaptive algorithm based on an HSV color space and area filtering to realize robust target identification under complex illumination conditions such as strong light and backlight. AMCL + DWA global-local double-layer path planning is adopted for the chassis, and the cradle head is controlled based on image error PD closed-loop, so that vehicle body-cradle head double-closed-loop cooperation is achieved. The system can control the tracking error within 5cm in a dynamic environment greater than or equal to 3m / s, and supports a single / multiple vehicle mode, illumination dramatic change and a 30% shielding scene. Compared with a single sensor scheme, the positioning precision is improved by 80%, the delay is reduced by 35%, and the method can be widely applied to high-speed maneuvering scenes such as security inspection and object tracking.

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