Snowmobile sled three-dimensional sliding track extraction method based on video and point cloud data

The invention discloses a snowmobile sled three-dimensional sliding track extraction method based on video and point cloud data. The method comprises the steps that camera calibration based on 3D point cloud and video frame key point matching point pairs is carried out; segmenting the video data based on the scene content; fitting curves of two side edges of the racing track to avoid interference of a moving object outside the racing track on detection; detecting the position of the snowmobile sleigh by using a background difference method; tracking is carried out by using Kalman filtering; after tracking is completed, the trajectory is smoothed; 2D coordinates of the sliding track are converted into 3D coordinates. According to the method, the camera parameters are estimated by using the video frame and the point cloud key point coordinate pair set, an accurate camera calibration result can be obtained without a calibration object, and manpower and cost are saved; establishing a 2D-3D mapping table by utiliz