一种基于激光雷达的水面多目标跟踪方法  

A Water Surface Multi Target Tracking Method Based on Lidar

作　　者：龚锐 徐海祥[1,2] 冯辉[1,2] 王凯歌 龙泽升 GONG Rui;XU Haixiang;FENG Hui;WANG Kaige;LONG Zesheng(Key Laboratory of High Performance Ship Technology,Ministry of Education,Wuhan University of Technology,Wuhan 430063,China;School of Naval Architecture,Ocean and Energy Power Engineering,Wuhan University of Technology,Wuhan 430063,China)

机构地区：[1]武汉理工大学高性能船舶技术教育部重点实验室,武汉430063 [2]武汉理工大学船海与能源动力工程学院,武汉430063

出　　处：《武汉理工大学学报（交通科学与工程版）》2023年第1期109-114,共6页Journal of Wuhan University of Technology（Transportation Science & Engineering）

基　　金：国家自然科学基金(51879210,51979210);中央高校基本科研业务费专项资金(2019Ⅲ040,2019III132CG)。

摘　　要：文中提出概率数据互联与KM(Kuhn-Munkres)算法相结合的数据关联方法和基于生命周期理论的航迹管理方法.利用概率数据互联计算的匹配概率改进基于位置与形状特性的关联值计算方法,提高关联值的准确性.设计了一种基于生命周期理论的航迹管理方法,利用多阈值和多阶段的管理策略提高航迹的稳定性.结果表明:改进的关联方法能够提高存在虚警和航迹交叉情况下的跟踪正确率,而基于生命周期理论的航迹管理方法能够有效解决遮挡导致的航迹中断问题.A data association method combining probabilistic data association with KM(Kuhn-Munkres) algorithm and a route management method based on life cycle theory were proposed. The matching probability of probabilistic data interconnection calculation was used to improve the calculation method of correlation value based on position and shape characteristics to improve the accuracy of correlation value. A track management method based on life cycle theory was designed, which used multi-threshold and multi-stage management strategies to improve the stability of the track. The results show that the improved correlation method can improve the tracking accuracy in the case of false alarm and track crossing, and the track management method based on life cycle theory can effectively solve the problem of track interruption caused by occlusion.

关 键 词：多目标跟踪 数据关联 激光雷达 KM算法 航迹管理 

分 类 号：U675.79[交通运输工程—船舶及航道工程]