基于激光与UWB序列匹配的目标跟踪
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1. 西南科技大学 信息工程学院,四川 绵阳 621000;2. 特殊环境机器人技术四川省重点实验室,四川 绵阳 621000

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E-mail: ran.liu.86@hotmail.com.

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TP273

基金项目:

四川省科技计划项目(2023NSFSC0505,2022YFG0242);国家自然科学基金项目(12175187,12205245).


Object tracking based on sequence matching between UWB and LiDAR
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Affiliation:

1. School of Information Engineering,Southwest University of Science and Technology,Mianyang 621000,China;2. Robot Technology Used for Special Environment Key Laboratory of Sichuan Province,Mianyang 621000,China

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    摘要:

    目标跟踪是实现人机交互的重要一环,二维激光雷达探测范围广、精度高,广泛应用于目标跟踪,但是由于缺失语义信息,难以区分外观近似的物体.针对这一问题,提出一种基于激光与UWB序列匹配的目标跟踪方法,使用最近邻算法关联激光聚类,构建物体轨迹,并基于改进的高斯相似度计算物体的激光轨迹与UWB测距序列的相似度,根据相似度大小实现目标的匹配定位.此外,针对目标被遮挡的情况设计重跟踪算法,利用UWB测距信息、目标丢失位置和目标特征模型在环境中搜索被遮挡的目标.利用TurtleBot2机器人平台,在10mtimes10m的室内环境中进行实验验证.实验结果表明,所提出方法能够以8cm的精度稳定地跟踪携带UWB节点的目标.

    Abstract:

    Object tracking is an essential part of human-robot interaction, and 2D LiDAR is one of the most popular sensors for wide sensing coverage and excellent ranging accuracy, but its lack of ability to extract semantic information makes it difficult to distinguish objects with close appearance. To address this problem, an object tracking method based on sequence matching between ultra-wide band UWB and LiDAR is proposed. Firstly, the nearest neighbour data association algorithm is used to associate LiDAR clusters and create object trajectories. Then the target is identified and located according to the improved Gaussian similarity between objects' LiDAR trajectories and UWB ranging sequences. Besides, a re-tracking algorithm is designed for the target occlusion case, utilizing UWB ranging information, the target's features, and lost position to find the occluded target. Finally, experiments are performed in a 10 m times 10 m indoor environment with the TurtleBot2 robot platform. The experiment results show that the proposed method can stably track the target carrying the UWB node with an accuracy of 8 centimeters.

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郭林,刘冉,蓝发籍,等.基于激光与UWB序列匹配的目标跟踪[J].控制与决策,2024,39(8):2613-2621

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  • 在线发布日期: 2024-07-16
  • 出版日期: 2024-08-20
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