Cross-modal cross-hierarchy target association method and device, electronic equipment and medium

The invention relates to a cross-modal cross-hierarchy target association method and device, electronic equipment and a medium, and belongs to the field of sensor data fusion. Comprising the steps that visual data and radar data are collected and preprocessed; converting position coordinates of a radar observation target in the preprocessed radar data into corresponding pixel coordinates; acquiring a first radar observation target which can be projected into a target detection frame in the visual data according to the pixel coordinates corresponding to the radar observation target; calculating a pixel distance between a pixel coordinate corresponding to each first radar observation target and the target detection frame; associating a radar observation target in the radar data and a visual observation target in the visual data with a tracking target; screening out a first tracking target associated with the visual observation target and not associated with the radar observation target; calculating the relative