This invention discloses a robust method, device, and storage medium for
laser spot recognition and tracking in complex lighting environments, belonging to the field of
computer vision and target detection. Addressing the problems of high
false alarm rates and poor robustness in existing methods under interference such as strong ambient light, dynamic
projector flicker, and
specular reflection, this invention proposes a multi-layered
processing framework of "detection-
verification-tracking." First, adaptive threshold segmentation is performed on the current frame image to extract candidate regions with brightness higher than the background. Second, multi-dimensional feature
verification is introduced. Based on the inherent physical properties of the
laser spot (such as
spectral matching degree, shape and size, and two-dimensional
Gaussian intensity distribution) and temporal motion patterns, candidate regions are jointly verified and filtered to effectively remove various homogeneous and heterogeneous interferences. Finally, through a multi-target trajectory management module, the filtered candidate spots are correlated with historical trajectories (e.g., using the Hungarian
algorithm), and combined with
Kalman filter prediction and state
machine-based trajectory lifecycle management (temporary, confirmed, lost, terminated), stable tracking and output of the
laser spot are achieved. This invention does not rely on a large amount of training data, has high computational efficiency, and can significantly improve the accuracy and robustness of laser spot recognition under complex dynamic lighting conditions, providing a reliable front-end
perception guarantee for vision-based high-precision laser
spatial positioning and
interaction systems.