Laser radar and vision fusion integrated target tracking system and method

Abstract

The invention provides a laser radar and vision fusion integrated target tracking system and method. The system comprises a solid-state laser radar, a monocular vision sensor and a fusion tracker. The fusion tracker comprises a monocular vision target detection module, a laser radar target detection module, a laser radar-vision fusion tracking module and a communication module. The monocular vision target detection module acquires target information from the image; the laser radar target detection module acquires target information from the point cloud; the laser radar-vision fusion tracking module performs spatial registration on measurement, establishes a target state model and a measurement model, establishes a tracking door through target state one-step prediction, and completes fusion tracking of an image target and a point cloud target through data association and target state filtering. According to the system and method, the integration level and development efficiency of the intelligent mobile platform are improved, and the accuracy of a fusion tracking result is improved.

Description

technical field [0001] The invention belongs to the technical field of environment perception of an intelligent mobile platform, and in particular relates to an integrated target tracking system and method for laser radar and vision fusion. Background technique [0002] The intelligent mobile platform is a comprehensive system integrating environmental perception, dynamic decision-making and planning, behavior control and execution. The intelligent mobile platform includes platforms such as intelligent vehicles and intelligent robots. Among them, environmental perception is the basic requirement and precondition for intelligent mobile platform to safely carry out decision-making control. It can rely on its own various sensors to collect real-time information on road surfaces and obstacles around the intelligent mobile platform to achieve decision-making control. How to use multiple sensors for data fusion and improve the environmental perception ability of the intelligent mo...

AI Technical Summary

Problems solved by technology

[0004] The present invention is aimed at the application requirements of the fusion target tracking system in the environment perception system of the intelligent mobile platform, and for the large error in the target distance estimation of the single image and the detection of too many useless targets due to insufficient target recognition ability of the single laser radar target detection, etc. problem, an integrated target tracking system and method for lidar and vision fusion are designed

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