Target tracking method and apparatus
This disclosure provides a target tracking method and apparatus, relate to the field of data processing technologies, and may be used for security protection, assisted driving, and self-driving. The method includes: obtaining a camera target tracking result and a radar target tracking result; and obtaining a target tracking result based on the camera target tracking result and a target model corresponding to the radar target tracking result, where the target model indicates an association relationship between a target in the radar target tracking result and height information of the target.
1 . A target tracking method, comprising:
obtaining a camera target tracking result and a radar target tracking result;
determining a classification type of a target in the radar target tracking result by using a radar classification algorithm;
obtaining height information of the target based on the classification type of the target in the radar target tracking result, wherein there is a predefined or preset correspondence between each classification type and a respective height value or interval, and wherein a height value or interval that corresponds to the classification type of the target in the radar target tracking result according to the predefined or preset correspondence is obtained as the height information of the target;
fusing the height information of the target and the target in the radar target tracking result to obtain a target model; and
obtaining a target tracking result based on the camera target tracking result and the target model corresponding to the radar target tracking result, wherein
the target model indicates an association relationship between the target in the radar target tracking result and the height information of the target.
2 . The method according to claim 1 , wherein the obtaining a target tracking result based on the camera target tracking result and the target model corresponding to the radar target tracking result comprises:
projecting the target model into a camera coordinate system to obtain a projected radar target tracking result; and
obtaining the target tracking result based on the camera target tracking result and the projected radar target tracking result.
3 . The method according to claim 2 , wherein the projecting the target model into a camera coordinate system comprises:
converting the target model into the camera coordinate system based on a preset or defined height conversion relationship, wherein different height information corresponds to different height conversion relationships, and the height conversion relationship is used to convert a target tracking result with a height in a radar coordinate system into the camera coordinate system.
4 . The method according to claim 3 , wherein height information corresponding to different area types corresponds to different height conversion relationships.
5 . The method according to claim 4 , wherein the area type comprises one or more of an area with undulating ground, an area with a slope, or an area with flat ground.
6 . The method according to claim 3 , wherein the converting the target model into the camera coordinate system based on a preset or defined height conversion relationship comprises:
determining a target area type corresponding to the target model; and
converting the target model into the camera coordinate system based on a target height conversion relationship that matches height information of the target model and that is in a height conversion relationship corresponding to the target area type.
7 . The method according to claim 2 , wherein the obtaining a target tracking result based on the camera target tracking result and the projected radar target tracking result comprises:
determining, based on an overlapping proportion between the camera target tracking result and the projected radar target tracking result, that the camera target tracking result and the projected radar target tracking result indicate a same target, wherein the overlapping proportion is greater than a first value.
8 . The method according to claim 7 , wherein the determining, based on an overlapping proportion between the camera target tracking result and the projected radar target tracking result, that the camera target tracking result and the projected radar target tracking result indicate a same target comprises:
when the overlapping proportion is greater than the first value, and at least one of a location or a speed of an overlapping target in the camera target tracking result and at least one of a location or a speed of the overlapping target in the projected radar target tracking result meet a preset condition, determining that the camera target tracking result and the projected radar target tracking result indicate the same target.
9 . The method according to claim 8 , wherein the preset condition comprises:
a difference between the at least one of the location or the speed of the overlapping target in the camera target tracking result and at least one of the location or the speed of the overlapping target in the radar target tracking result is less than a second value.
10 . The method according to claim 1 , wherein the radar target tracking result is obtained from an imaging radar, and the target model further comprises size information of the target.
11 . The method according to claim 1 , wherein the camera target tracking result comprises a target bounding box, and the radar target tracking result comprises a target point cloud.
12 . An apparatus, comprising:
at least one processor; and
one or more memories coupled to the at least one processor and storing programming instructions for execution by the at least one processor to cause the apparatus to:
obtain a camera target tracking result and a radar target tracking result;
determine a classification type of a target in the radar target tracking result by using a radar classification algorithm;
obtain height information of the target based on the classification type of the target in the radar target tracking result, wherein there is a predefined or preset correspondence between each classification type and a respective height value or interval, and wherein a height value or interval that corresponds to the classification type of the target in the radar target tracking result according to the predefined or preset correspondence is obtained as the height information of the target;
fuse the height information of the target and the target in the radar target tracking result to obtain a target model; and
obtain a target tracking result based on the camera target tracking result and the target model corresponding to the radar target tracking result, wherein
the target model indicates an association relationship between a target in the radar target tracking result and height information of the target.
13 . The apparatus according to claim 12 , wherein the obtain a target tracking result based on the camera target tracking result and the target model corresponding to the radar target tracking result comprises:
project the target model into a camera coordinate system to obtain a projected radar target tracking result; and
obtain the target tracking result based on the camera target tracking result and the projected radar target tracking result.
14 . The apparatus according to claim 13 , wherein the project the target model into a camera coordinate system comprises:
convert the target model into the camera coordinate system based on a preset or defined height conversion relationship, wherein different height information corresponds to different height conversion relationships, and the height conversion relationship is used to convert a target tracking result with a height in a radar coordinate system into the camera coordinate system.
15 . The apparatus according to claim 14 , wherein height information corresponding to different area types corresponds to different height conversion relationships.
16 . The apparatus according to claim 15 , wherein the area type comprises one or more of an area with undulating ground, an area with a slope, or an area with flat ground.
17 . The apparatus according to claim 13 , wherein the obtain a target tracking result based on the camera target tracking result and the projected radar target tracking result comprises:
determine, based on an overlapping proportion between the camera target tracking result and the projected radar target tracking result, that the camera target tracking result and the projected radar target tracking result indicate a same target, wherein the overlapping proportion is greater than a first value.
18 . The apparatus according to claim 17 , wherein the determine, based on an overlapping proportion between the camera target tracking result and the projected radar target tracking result, that the camera target tracking result and the projected radar target tracking result indicate a same target comprises:
when the overlapping proportion is greater than the first value, and at least one of a location or a speed of an overlapping target in the camera target tracking result and at least one of a location or a speed of the overlapping target in the projected radar target tracking result meet a preset condition, determine that the camera target tracking result and the projected radar target tracking result indicate the same target.
19 . The apparatus according to claim 18 , wherein the preset condition comprises:
a difference between the at least one of the location or the speed of the overlapping target in the camera target tracking result and at least one of the location or the speed of the overlapping target in the radar target tracking result is less than a second value.
20 . One or more non-transitory computer-readable media storing computer instructions, that when executed by one or more processors, cause a computing device to perform operations comprising:
obtaining a camera target tracking result and a radar target tracking result;
determining a classification type of a target in the radar target tracking result by using a radar classification algorithm;
obtaining height information of the target based on the classification type of the target in the radar target tracking result, wherein there is a predefined or preset correspondence between each classification type and a respective height value or interval, and wherein a height value or interval that corresponds to the classification type of the target in the radar target tracking result according to the predefined or preset correspondence is obtained as the height information of the target;
fusing the height information of the target and the target in the radar target tracking result to obtain a target model; and
obtaining a target tracking result based on the camera target tracking result and the target model corresponding to the radar target tracking result, wherein
the target model indicates an association relationship between the target in the radar target tracking result and the height information of the target.