摘要
To fully describe the structure information of the point cloud when the LIDAR-object distance is long,a joint global and local feature(JGLF)descriptor is constructed.Compared with five typical descriptors,the object recognition rate of JGLF is higher when the LIDAR-object distances change.Under the situation that airborne LIDAR is getting close to the object,the particle filtering(PF)algorithm is used as the tracking frame.Particle weight is updated by comparing the difference between JGLFs to track the object.It is verified that the proposed algorithm performs 13.95%more accurately and stably than the basic PF algorithm.
作者
Qishu Qian
Yihua Hu
Nanxiang Zhao
Minle Li
Fucai Shao
Xinyuan Zhang
钱其姝;胡以华;赵楠翔;李敏乐;邵福才;张鑫源(State Key Laboratory of Pulsed Power Laser Technology,National University of Defense Technology,Hefei 230037,China;Anhui Provincial Key Laboratory of Electronic Restriction,National University of Defense Technology,Hefei 230037,China;The Military Representative Bureau of the Ministry of Equipment Development,Central Military Commission in Beijing,Beijing 100191,China)
基金
This work was supported by the National Natural Science Foundation of China(Nos.61271353 and 61871389)
Foundation of State Key Laboratory of Pulsed Power Laser Technology(No.SKL2018ZR09)
Major Funding Projects of National University of Defense Technology(No.ZK18-01-02).
