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1. WO2022000127 - TARGET TRACKING METHOD AND DEVICE THEREFOR

Publication Number WO/2022/000127
Publication Date 06.01.2022
International Application No. PCT/CN2020/098494
International Filing Date 28.06.2020
IPC
G01S 17/66 2006.1
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
17Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
66Tracking systems using electromagnetic waves other than radio waves
CPC
G01S 17/66
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
17Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
66Tracking systems using electromagnetic waves other than radio waves
G06F 17/16
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
FELECTRIC DIGITAL DATA PROCESSING
17Digital computing or data processing equipment or methods, specially adapted for specific functions
10Complex mathematical operations
16Matrix or vector computation ; , e.g. matrix-matrix or matrix-vector multiplication, matrix factorization
G06F 17/18
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
FELECTRIC DIGITAL DATA PROCESSING
17Digital computing or data processing equipment or methods, specially adapted for specific functions
10Complex mathematical operations
18for evaluating statistical data ; , e.g. average values, frequency distributions, probability functions, regression analysis
G06T 2207/10028
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
2207Indexing scheme for image analysis or image enhancement
10Image acquisition modality
10028Range image; Depth image; 3D point clouds
G06T 2207/10044
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
2207Indexing scheme for image analysis or image enhancement
10Image acquisition modality
10032Satellite or aerial image; Remote sensing
10044Radar image
G06T 7/246
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
20Analysis of motion
246using feature-based methods, e.g. the tracking of corners or segments
Applicants
  • 华为技术有限公司 HUAWEI TECHNOLOGIES CO., LTD. [CN]/[CN]
Inventors
  • 李晓波 LI, Xiaobo
  • 劳大鹏 LAO, Dapeng
Agents
  • 深圳市深佳知识产权代理事务所(普通合伙) SHENPAT INTELLECTUAL PROPERTY AGENCY
Priority Data
Publication Language Chinese (zh)
Filing Language Chinese (ZH)
Designated States
Title
(EN) TARGET TRACKING METHOD AND DEVICE THEREFOR
(FR) PROCÉDÉ DE SUIVI DE CIBLE ET DISPOSITIF ASSOCIÉ
(ZH) 一种目标跟踪方法及其装置
Abstract
(EN) Provided in the embodiments of the present application is a target tracking method, which is applied to the field of automatic driving. The method comprises: acquiring point cloud data of a target object, and performing centroid estimation on the point cloud data; acquiring a target covariance matrix, wherein the target covariance matrix represents a centroid position error introduced during the centroid estimation; and performing target tracking on the target object on the basis of the target covariance matrix so as to obtain a target tracking result. In the present application, the target covariance matrix may relatively accurately quantify the error caused by the centroid estimation of the point cloud data, and performing target tracking on the target object on the basis of the target covariance matrix may improve the accuracy of target tracking.
(FR) Les modes de réalisation de la présente demande concernent un procédé de suivi de cible utilisé dans le domaine de la conduite automatique. Le procédé consiste à : acquérir des données de nuage de points d'un objet cible et effectuer une estimation de centroïde sur les données de nuage de points ; acquérir une matrice de covariance cible, la matrice de covariance cible représentant une erreur de position de centroïde introduite pendant l'estimation de centroïde ; et effectuer un suivi de cible sur l'objet cible sur la base de la matrice de covariance cible de façon à obtenir un résultat de suivi cible. Dans la présente demande, la matrice de covariance cible peut quantifier de manière relativement précise l'erreur provoquée par l'estimation de centroïde des données de nuage de points et la réalisation d'un suivi de cible sur l'objet cible sur la base de la matrice de covariance cible peut améliorer la précision de suivi de cible.
(ZH) 本申请实施例提供了一种目标跟踪方法,应用于自动驾驶领域,方法包括:获取目标对象的点云数据,并对点云数据进行质心估计;获取目标协方差矩阵;其中,目标协方差矩阵表示进行质心估计时引入的质心位置误差;以及,基于目标协方差矩阵,对目标对象进行目标跟踪,以得到目标跟踪结果。本申请中,目标协方差矩阵可以相对准确的量化由于点云数据的质心估计导致的误差,基于目标协方差矩阵对目标对象进行目标跟踪,可以提高目标跟踪的精度。
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