Multi-laser-radar-based pedestrian target tracking method

Abstract

The invention discloses a multi-laser-radar-based pedestrian target tracking method. The multi-laser-radar-based pedestrian target tracking method comprises the following steps that: a sensor network consisting of a plurality of single-line laser radars monitors a whole scene; at every sampling moment, the radars output footstep point distance data of pedestrians, and the data among different radars are unified at a coordinate system through system calibration; a footstep movement model of the pedestrians is built and pedestrian movement states are tracked through Kalman filtering so as to finally acquire a stable target trace and relevant statistical information. In the method, the laser radars are used as sensors, so that the defects of influence of illumination variance on an image sensor in the tracking method can be overcome and reliability is enhanced greatly; furthermore, the tracking range is wide, the algorithm speed is high, the number of tracked pedestrians is large, all movement modes of the pedestrians are compatible, such as standing, walking and jogging, and positions of the pedestrians can be detected effectively and movement traces of the pedestrians can be tracked in real time. The multi-laser-radar-based pedestrian target tracking method is applicable to occasions in which main movement targets are pedestrians.

Description

technical field [0001] The invention relates to a pedestrian target tracking method, in particular to a pedestrian target tracking method based on multiple laser radars. [0002] The invention relates to a pedestrian target tracking method based on multiple laser radars, which is suitable for tracking a plurality of pedestrians in standing, walking, jogging and other motion modes in various public places. Background technique [0003] In crowded public places such as subways, stations, and department stores, statistical information such as pedestrian flow and movement direction can help engineering designers make more reasonable entrance and exit layouts, design reasonable safety emergency plans, etc., and have huge commercial value. Automatically obtaining these real-time statistics requires accurate tracking of all pedestrian objects in the scene. The current target tracking technology is mainly based on visual sensors such as cameras, and tracks moving targets in images ...

AI Technical Summary

Problems solved by technology

However, tracking technologies based on image processing algorithms are sensitive to changes in ambient light and cannot meet the requirements of all-weather tracking.

At the same time, the field of view covered by one camera is limited. Although multiple cameras can be used to achieve large-scale coverage, it is difficult to achieve cross-camera target tracking and is still in the experimental stage.

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