Target trajectory optimization method based on DS evidence theory

Abstract

The invention provides a target trajectory optimization method based on a DS evidence theory, and the method comprises: a data collection device obtaining multi-target information, and outputting a target coordinate position, a posture, a trajectory and a high-low resolution image set; constructing a generative adversarial network to reconstruct a simulation target, and outputting a simulation high-low resolution image set of the coordinate position, posture and track of the simulation target and a real target; detecting a key frame calculation feature repetition rate, constructing a dictionary judgment loop based on the two-dimensional high-low resolution image set and the three-dimensional target RGB point cloud, and realizing trajectory optimization; establishing a sample matrix to represent an output trajectory, including a real target trajectory, a generative adversarial network output simulation target trajectory, and an optimized trajectory after loopback detection; and performing correctness judgment on the trajectory based on the spatial features, the image features and the trajectory information by utilizing a DS evidence theory, and outputting an optimal trajectory. Theoptimal trajectory is output, and accurate information is provided for unmanned control, target recognition and detection, region detection, path planning and the like.

Description

technical field [0001] The invention relates to the fields of artificial intelligence, target detection and recognition, multi-sensor measurement, environment perception and the like, and in particular relates to a target trajectory optimization method based on DS evidence theory. Background technique [0002] For artificial intelligence and target detection and recognition, multi-sensor measurement and environmental perception technology are becoming more and more mature, environmental perception is a necessary prerequisite for target detection and recognition, and target detection is an important part of environmental perception. Common target detection sensors such as TOF The ranging image sensor emits light waves or sound waves with different wavelengths, and then collects the echo signals of the emitted waves to obtain information such as the distance, angle, reflection intensity, speed and other information of the target, and generates a multi-dimensional image of the t...

AI Technical Summary

Problems solved by technology

[0006] In order to solve the problems that the optimization of the target trajectory in the prior art is not accurate enough and has a large gap with the actual trajectory, the purpose of the present invention is to provide a target trajectory optimization method based on DS evidence theory, so as to realize the optimal target trajectory during the movement process. The output of the optimal trajectory can find the optimal trajectory while updating the trajectory in real time; it can further improve the speed of online trajectory planning and help the target respond to environmental changes in a timely manner

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