Video and lidar target detection and tracking system and method for segmenting moving targets

摘要

Embodiments of video and LIDAR target detection and tracking system and method for segmenting targets are generally described herein. In some embodiments, the system may perform moving target detection using three-frame difference processing on frames of LIDAR range images of a scene to identify a moving target and determine an initial position estimate for the moving target. The system may also perform segmentation of the moving target using a single frame of the LIDAR range images to generate a segmented target that may include a target mask and target centroid position. After segmentation, moving target registration including motion compensation may be performed by registering the segmented target in multiple LIDAR frames to determine a target position, a target orientation and a target heading. In some embodiments, a three-dimensional model of the moving target may be generated and added to a sequence of video frames.

主权项

1. A target detection and tracking system comprising:
a moving target detection module to perform moving target detection using three-frame difference processing on frames of LIDAR range images of a scene to identify a moving target and determine an initial position estimate for the moving target,
each LIDAR range image being formed from illumination of the scene with infrared laser light and analysis of round trip travel time of the infrared laser light collected from the scene,each LIDAR range image comprising a depth map of the scene, each LIDAR range image being unaffected by shadows, surface markings, color, and lighting; and a segmentation module to perform segmentation of the moving target using a single frame of the LIDAR range images to generate a segmented target including a target mask and target centroid position.