B样条曲面三维扩展目标跟踪算法

doi:10.19665/j.issn1001-2400.2023.02.011

Abstract

Abstract:

In target tracking,the realization of 3D extended target tracking usually requires a large number of measurement data from multiple angles,and the measurement obtained by a single sensor can not meet the requirements of 3D shape estimation in either quantity or integrity.Aiming at the problem of poor shape tracking performance of existing 3D extended target tracking algorithms under a low measurement rate,a three-dimensional extended target algorithm based on the B-spline Poisson Multi-Bernoulli Mixture (B-Spline-PMBM) filter is proposed.First,wavelet clustering is used to process the 3D spatial measurement data obtained by multiple sensors to obtain the measurement cluster,which can extract effective information and ensure the efficiency of the algorithm.Then,the control matrix is obtained by dividing the measurement cluster.The control matrix is realized based on the B-spline control point principle,so it can represent the parameters of the complex three-dimensional shape.The shape of the 3D extended target is obtained by fitting the B-spline surface with the control matrix.Finally,the B-spline is integrated into the PMBM filter,which is extended to 3D target tracking to predict and update the motion state and shape parameters of the extended target.Simulation and real point cloud data set verify that the proposed algorithm can achieve a good tracking effect on the motion state and the extended shape of the three-dimensional extended target,and can realize the estimation of the irregular three-dimensional shape.

Key words: extended target tracking, Poisson multi-Bernoulli mixture, clustering algorithms, B-spline surface, control matrix

CLC Number:

TN953

CHEN Zhen,LI Cuiyun,LI Xiang. Algorithm for tracking the 3D extended target based on the B-spline surface[J].Journal of Xidian University, 2023, 50(2): 101-111.

Figures/Tables 25

References 19

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IoU	单传感器B-Spline-PMBM算法	多传感器B-Spline-PMBM算法
0.2	7.54	2.88
0.4	10.23	4.96
0.6		6.10
0.8		7.68

目标	目标运动状态初始化/m	存活时间/s
1	x₁=[-175,-175,-175,7,7,7]^T	t₁∈[1,50]
2	x₂=[-175,150,120,5,-5,6]^T	t₂∈[1,30]
3	x₃=[-175,-150,140,-5,7,-5]^T	t₃∈[20,50]

Algorithm for tracking the 3D extended target based on the B-spline surface

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References 19

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