计算机与数字工程2025，Vol.53Issue(3)：815-820,6.DOI:10.3969/j.issn.1672-9722.2025.03.034
基于激光雷达的自动驾驶车辆多目标检测与跟踪
Multi-object Detection and Tracking of Autonomous Vehicles Based on Lidar
摘要
Abstract
Aiming at the problem of environmental perception in the complex scene of autonomous vehicles,a multi-object de-tection and tracking method based on lidar is proposed.Firstly,the ground segmentation method based on slope and height is com-bined to eliminate the ground points of the original point cloud data.Secondly,multi-object detection is carried out using the densi-ty clustering algorithm introduced into the K-dimensional tree for non-ground points,and the objects of obvious uninterest are fil-tered,and a L-shaped fitting box is added to each target.Finally,considering the nonlinear motion of multi-objective,the combina-tion of JPDAF and UKF is selected to track the detected multi-target in real time.The results show that the multi-object detection and tracking method proposed in this paper has high reliability after verification on the publicly available KITTI dataset for autono-mous driving.关键词
自动驾驶/激光雷达/聚类/联合概率数据关联/无迹卡尔曼滤波Key words
autonomous driving/lidar/clustering/JPDAF/UKF分类
信息技术与安全科学引用本文复制引用
朱爱鑫,袁春元,陶振兴..基于激光雷达的自动驾驶车辆多目标检测与跟踪[J].计算机与数字工程,2025,53(3):815-820,6.基金项目
国家自然科学基金项目(编号:51575249)资助. （编号:51575249）
