The invention relates to an obstacle tracking method and device and electronic equipment, and the method comprises the steps: obtaining the information of all 3D target frames around a vehicle at a current time point, and the information of 3D detection frames of all obstacles around the vehicle at all historical time points; for each obstacle, inputting 3D detection frame information of the obstacle at each historical time point into a tracking filter of the obstacle, and determining 3D prediction frame information of the obstacle at the current time point; according to each piece of 3D target frame information at the current time point and the 3D prediction frame information of each obstacle, determining the obstacle to which each piece of 3D target frame information belongs at the current time point, performing updating processing on a tracking filter of each obstacle, and determining updated 3D prediction frame information of the obstacle at the current time point, according to the invention, 3D obstacle detection under multiple shooting equipment scenes can be realized, the obstacle detection efficiency is improved, and the obstacle tracking efficiency is further improved.
本公开关于一种障碍物跟踪方法、装置及电子设备,其中,该方法包括:获取当前时间点上车辆周边的各个3D目标框信息,以及各个历史时间点上车辆周边各个障碍物的3D检测框信息;针对每个障碍物,将各个历史时间点上障碍物的3D检测框信息输入障碍物的跟踪滤波器,确定当前时间点上障碍物的3D预测框信息;根据当前时间点上的各个3D目标框信息以及各个障碍物的3D预测框信息,确定当前时间点上各个3D目标框信息所属的障碍物,用于对各个障碍物的跟踪滤波器进行更新处理,以及确定当前时间点上障碍物的更新3D预测框信息,进而对障碍物进行跟踪处理,能够实现多个拍摄设备场景下的3D障碍物检测,提高障碍物检测效率,进而提高障碍物跟踪效率。
Obstacle tracking method and device and vehicle
障碍物跟踪方法、装置及车辆
2025-03-28
Patent
Electronic Resource
Chinese
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