Target tracking method, tracking device and readable storage medium

The invention discloses a target tracking method and device and a readable storage medium, and the method comprises the following steps: determining a first tracking deflection angle and a first tracking distance of a target object relative to an initial position according to a current image frame of the target object, the initial position being obtained through a previous image frame; predicting a second tracking deflection angle and a second tracking distance of the target object relative to the initial position according to the first tracking deflection angle, the first tracking distance and a Kalman filter; and determining the current position of the target object according to the second tracking deflection angle and the second tracking distance. According to the invention, the tracking accuracy when the target object is shielded can be improved. 本发明公开了一种目标跟踪方法、跟踪装置及可读存储介质，所述目标跟踪方法包括以下步骤：根据目标对象的当前图像帧确定所述目标对象相对于初始位置的第一跟踪偏角以及第一跟踪距离，所述初始位置通过上一帧图像帧得到；根据所述第一跟踪偏角、所述第一跟踪距离以及卡尔曼滤波器预测所述目标对象相对于所述初始位置的第二跟踪偏角以及第二跟踪距离