Three-dimensional space moving target tracking method based on two-dimensional image and related device

Abstract

The invention discloses a three-dimensional space moving target tracking method based on a two-dimensional image and a related device. The method comprises: a camera obtains a current image of a target at a current moment; determining a first position of the target in the pixel coordinate system; determining the observation position of the target in a camera coordinate system according to the first position, the pixel size, the deflection angle of the optical axis of the camera and the height and focal length of the camera; the original point of the camera coordinate system is the optical center of the camera, the Z axis of the camera coordinate system is arranged along the optical axis of the camera, the X axis and the Y axis of the camera coordinate system are parallel to the X axis and the Y axis of the image coordinate system respectively, and the image coordinate system is located on the focal plane of the camera; updating each parameter in the volume Kalman filter by using the previous estimation position and the observation position, and obtaining the current estimation position of the target in the camera coordinate system; the last estimated position is an estimated position obtained by performing trajectory prediction on the target at the last moment. In this way, the accuracy of target tracking can be improved.

Description

technical field [0001] The present application relates to the field of target tracking, in particular to a method for tracking moving targets in three-dimensional space based on two-dimensional images and related devices. Background technique [0002] The use of sensors to achieve target positioning is one of the important uses of sensors, and it is also a key link in providing online sensor measurement information for target tracking. At present, based on different sensor types, target positioning can be roughly divided into several categories: radar-based, sonar-based, infrared-based, and visible-light image-based. Target positioning has great significance in the real world. It plays an important role in detecting the invasion of enemy targets, the direction of movement, and the location of events, which provides a strong guarantee for correct decision-making and corresponding measures. Using sensors to locate targets is mainly to use some known information collected abou...

AI Technical Summary

Problems solved by technology

[0006] This application mainly provides a method for tracking a moving target in three-dimensional space based on two-dimensional images and related devices, which solves the problem of low accuracy in the tracking of moving targets in three-dimensional space based on two-dimensional images in the prior art

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