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...
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| creator | SHEN JINGFU ZHANG YUANLIANG LIU FEIYUE YANAGI SOON |
| description | 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 |
| format | Patent |
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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. 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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. 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| subjects | ANALOGOUS ARRANGEMENTS USING OTHER WAVES CALCULATING COMPUTING COUNTING DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES IMAGE DATA PROCESSING OR GENERATION, IN GENERAL LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES MEASURING PHYSICS RADIO DIRECTION-FINDING RADIO NAVIGATION TESTING |
| title | Target ranging and tracking method based on single-line laser radar and vision fusion |
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