3D multi-target tracking method based on space-time adaptive attention

The invention discloses a 3D multi-target tracking method based on space-time adaptive attention, and the method comprises the steps: obtaining 2D multi-source data and 3D multi-source data in a target scene, carrying out the image feature extraction of the 2D multi-source data, obtaining the image features, carrying out the point cloud feature extraction of the 3D multi-source data, and obtaining the point cloud features; carrying out feature fusion on the image features and the point cloud features to obtain fusion features; determining the detection state of each object in the target scene according to the fusion features; according to the detection state, extracting cooperation features between the detection object and the prediction object; and carrying out real-time updating on object detection and tracking states in the target scene according to the cooperation features. The method can effectively obtain better tracking performance and reduce reasoning time, and can be widely applied to the technical f