Target ranging and tracking method based on single-line laser radar and vision fusion

The invention provides a target ranging and tracking method based on single-line laser radar and vision fusion. The method mainly solves the problems that a traditional multi-line laser radar is high in cost and power consumption and is not suitable for a small unmanned ship. According to the method, data of a single-line laser radar and a visual sensor are fused, information fusion is performed by combining pre-calibrated internal and external parameter matrixes, and prediction and correction of a target motion state are performed by using a KLT algorithm and Kalman filtering, so that accurate distance measurement and stable tracking of a water surface target are realized. The method aims to meet the requirements of the small unmanned ship for low-cost, high-precision and stable distance measurement tracking of the target in the complex water surface environment, the method is better in long-distance tracking effect and more stable in tracking effect, meanwhile, the problem that the tracked target is partial