B样条曲面三维扩展目标跟踪算法

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

在目标跟踪中,三维扩展目标跟踪的实现通常需要多角度的大量量测数据,单传感器所获得的量测无论是从数量还是完整性上来说,都不能良好地满足三维形状估计的要求。针对低量测率下现有的三维扩展目标跟踪算法形状跟踪效果差的问题,提出了一种基于B样条曲面的泊松多伯努利混合滤波算法。首先,利用小波聚类对多传感器获得的三维空间量测数据进行处理,得到量测簇,在提取有效信息的同时保证算法的效率;然后,对量测簇进行划分,获得控制矩阵,控制矩阵基于B样条的控制点原理实现,因此能够表征复杂三维形状的参数,利用控制矩阵与B样条曲面拟合获得三维扩展目标的形状;最后,将B样条融入泊松多伯努利混合滤波器,扩展到三维目标跟踪,预测和更新扩展目标运动状态和形状参数。经仿真实验和真实点云数据集的验证,所提算法能够对三维扩展目标的运动状态和扩展形状实现良好的跟踪效果,且能够实现不规则三维形状的估计。

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.