CN112102370A - Target tracking method and device, storage medium and electronic device - Google Patents
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Abstract
The application discloses a target tracking method and device, a storage medium and an electronic device. Wherein, the method comprises the following steps: acquiring point cloud data acquired by a radar device; acquiring scene information input for the point cloud data; and tracking the target according to the point cloud data and the scene information. The method and the device solve the technical problem that the target tracking accuracy of the radar is low.
Description
Technical Field
The present application relates to the field of target tracking, and in particular, to a target tracking method and apparatus, a storage medium, and an electronic apparatus.
Background
The radar technology is an advanced technology at present, because the radar has many excellent characteristics as an electromagnetic wave detection device, and with the development of science and technology and artificial intelligence being accelerated, the breakthrough of the radar technology is also a sudden leap, the technology gradually enters daily life application from the beginning military application, and the application of the radar technology is organic field security inspection instruments, mechanical vibration measurement, human vital sign detection and many other places. Millimeter wave radar in the radar has characteristics such as sensitivity height, penetrability are strong, need not contact and is used in each field by extensive, and the technique of millimeter wave radar is applied to the automobile field very much at present. The use in household and human body identification is still relatively deficient (especially, accurate tracking cannot be carried out), which is the next stage of radar development, and technology is really used for benefiting human life.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the application provides a target tracking method and device, a storage medium and an electronic device, and aims to at least solve the technical problem that the target tracking accuracy of a radar is low.
According to an aspect of an embodiment of the present application, there is provided a method for tracking a target, including: acquiring point cloud data acquired by a radar device; acquiring scene information input for the point cloud data; and tracking the target according to the point cloud data and the scene information.
According to another aspect of the embodiments of the present application, there is also provided a tracking apparatus for a target, including: the first acquisition unit is used for acquiring point cloud data acquired by the radar device; a second acquisition unit configured to acquire scene information input for the point cloud data; and the tracking unit is used for tracking the target according to the point cloud data and the scene information.
According to another aspect of the embodiments of the present application, there is also provided a storage medium including a stored program which, when executed, performs the above-described method.
According to another aspect of the embodiments of the present application, there is also provided an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the above method through the computer program.
In the embodiment of the application, when the millimeter wave radar is used, the boundary and the range to be detected are actively given to the millimeter wave radar, and then the millimeter wave radar performs accurate detection and tracking on data according to the incoming boundary data. The method is based on the combination of the millimeter wave radar and the user scene information, targets in the area are tracked, and the technical problem that the target tracking accuracy of the radar is low can be solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a flow chart of an alternative method of tracking a target according to an embodiment of the present application;
FIG. 2 is a schematic diagram of an alternative target tracking scheme according to an embodiment of the present application;
FIG. 3 is a schematic diagram of an alternative target tracking scheme according to an embodiment of the present application;
FIG. 4 is a schematic diagram of an alternative target tracking device according to an embodiment of the present application;
and
fig. 5 is a block diagram of a terminal according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
According to an aspect of embodiments of the present application, there is provided a method embodiment of a method for tracking a target. The scheme provides a target tracking solution based on the combination of the millimeter wave radar and the user scene information, the problem that the millimeter wave radar is inaccurate in tracking sometimes can be solved, and tracking monitoring and people counting of people in a human scene can be better achieved. Fig. 1 is a flowchart of an alternative target tracking method according to an embodiment of the present application, and as shown in fig. 1, the method may include the following steps:
and step S1, point cloud data collected by the radar device is obtained.
Step S2, scene information input for the point cloud data is acquired.
Optionally, the obtaining of the scene information input for the point cloud data includes: in a case where the radar device is located on a roof, acquiring the scene information including: the height of the radar from the ground, the length and the width of a region to be detected and the positions of the radar entering and exiting the detection region; in a case where the radar device is located at a corner, the scene information including: the position of the four walls of the area to be detected relative to the radar and the position of the four walls entering and exiting the detection area; in a case where the radar device is located on a side of a wall, the scene information including: the position of the other three walls except the wall where the radar is located in the four walls of the area to be detected relative to the radar and the positions of the other three walls entering and exiting the detection area.
And step S3, tracking the target according to the point cloud data and the scene information.
Optionally, the tracking the target according to the point cloud data and the scene information includes: clustering the point cloud data of each frame by adopting a clustering algorithm to detect a target; tracking a target in the point cloud data of each frame in real time by adopting an extended Kalman filtering algorithm; and releasing the target which goes out of the radar detection area in the target tracking process.
The clustering of the point cloud data of each frame by using the clustering algorithm to detect the target comprises the following steps: and performing clustering detection on the point cloud data of each frame in different areas by adopting a clustering algorithm, wherein the different areas comprise an inlet area and an indoor area.
Optionally, after performing clustering detection on the point cloud data of each frame in a partitioned manner by using a clustering algorithm, under the condition that a formed new target is located in an inlet area, determining the new target as a target to be tracked; confirming that the new target is a target to be tracked and releasing an old target in the indoor area under the condition that the formed new target is located in the indoor area and the old target exists in the indoor area; in the case where the formed new target is located in the indoor area and the old target does not exist in the indoor area, the new target is not taken as the target to be tracked.
Optionally, after performing clustering detection on the point cloud data of each frame in a partitioned manner by using a clustering algorithm, if a new target appears in the indoor area continuously for multiple times within a period of target time and an old target does not exist in the indoor area, determining that the new target is a target to be tracked.
Optionally, in the target tracking process, if there is a target out of the boundary from the inlet area, the target is released, and if the target is not out of the boundary from the inlet area, the target is not released even if the target is lost.
Through the steps, when the millimeter wave radar is used, the boundary and the range to be detected are actively given to the millimeter wave radar, and then the millimeter wave radar carries out accurate detection and tracking on data according to the incoming boundary data. The method is based on the combination of the millimeter wave radar and the user scene information, targets in the area are tracked, and the technical problem that the target tracking accuracy of the radar is low can be solved.
The boundary selection and determination can be provided for a user with an interactive program, such as an app or an applet, so that the user can intuitively input the area information which the user wants to detect by using the radar into the interior (the above can be automatically completed by a machine), the data can be transmitted to the millimeter wave radar through the interactive mode such as the app, the data information of the boundary is displayed on a mobile phone interface of the user, the user judges whether the boundary information is correct, and if the boundary information is correct, the setting is determined to be successful.
As an alternative example, the following further details the technical solution of the present application in conjunction with the specific embodiments shown in fig. 2 and fig. 3.
According to the technical scheme, the millimeter wave radar is used for upper-layer application on the basis of point cloud data obtained by detection of the millimeter wave radar, scene information of radar detection input by a user is combined with the scene information to track human targets in the scene, tracking and people counting of the user in a specific scene are achieved, and accuracy and precision are improved.
Step 1, scene information is obtained.
Radar installations are divided into three modes: 1) roof mode, i.e. radar installations on the roof, detecting vertically downwards; 2) in the corner mode, namely, the radar is placed in a corner to detect and acquire data; 3) side mode, i.e. radar placed on the side of the wall, detects.
Three modes are set, on one hand, the principle that the radar detects, namely collects data in the three modes is different, and on the other hand, the scene information in the three modes is different. The scene information is as follows: 1) scene information of the top mode: the height of the radar from the ground, the length and width of a region to be detected and the positions of an entering region and an exiting region; 2) scene information of corner mode: the positions of four walls in the area to be detected relative to the radar and the positions of the rooms entering and exiting the area; 3) scene information of side mode: the positions of the other three walls of the four walls except the wall where the radar is located in the area to be detected relative to the radar and the positions of the four walls in and out of the area.
And step 2, millimeter wave radar point cloud data.
The scheme is an upper-layer application based on point cloud data obtained by millimeter wave radar detection. The millimeter wave radar obtains point cloud data through signal processing of received echo signals, the point cloud data are original data to be calculated and processed in the scheme, and the point cloud data information comprises: 1) the distance between the target point and the radar; 2) azimuth angle of the target point relative to the radar; 3) the elevation angle of the target point relative to the radar (the attribute is information detected by the three-dimensional millimeter wave radar, the two-dimensional millimeter wave radar does not contain the attribute, and the two radars are contained in the scheme); 4) the velocity of the target point relative to the radar; 5) signal to noise ratio of target point.
And 3, tracking the target based on the point cloud data.
The target tracking process based on the point cloud data is as follows:
and 3.1, forming a target, clustering the point cloud data of each frame by adopting a clustering algorithm to realize target detection, namely forming a new target, wherein the clustering algorithm adopts a DBSCAN algorithm and is not limited to the clustering algorithm.
And 3.2, tracking the target, namely tracking the new target by adopting an extended Kalman filtering algorithm and tracking the target in the point cloud data of each frame in real time.
And 3.3, target release management, wherein in the target tracking process, some targets may go out of the radar detection area and need to be released.
Step 4, defects existing in target tracking application based on point cloud data, and defects detected by a radar: 1) generally, the detected data are of moving objects, and the static objects cannot be accurately detected; 2) there are reflections from the walls, resulting in false targets. The target tracking based on the point cloud data detected by the radar has the following defects: 1) without a boundary, the algorithm does not know when to walk out of the boundary, and when the release cannot be confirmed, so that the release mechanism makes mistakes in practical application; 2) false targets are easily formed.
And 5, combining the millimeter wave radar with the scene information.
The priori knowledge of the scene information is utilized to limit the constraint algorithm, and the actual application capability of the algorithm can be improved.
The scene information comprises the boundary of the area to be detected and the entrance of the boundary, and the tracking algorithm is combined with the scene information to perform the following steps:
and 5.1, forming a target, and clustering the point cloud data of each frame by adopting a clustering DBSCAN algorithm to realize target detection. And carrying out clustering detection in different areas, namely dividing the areas into two areas: an inlet zone and an indoor zone. Adding a rule constraint: a. if the formed new target is in the inlet area, confirming the new target as the target to be tracked, and performing no treatment on the other targets; b. if the formed new target is in the indoor area, confirming that the new target is the target to be tracked, releasing (deleting) an old target in the indoor area, and if no other target exists in the indoor area, not confirming that the new target is the target to be tracked; c. if there is new target formed in the indoor area 10 times continuously in a period of time, i.e. the above step b is repeated, if there is new target formed more than 10 times in a certain period of time, then step a is executed to confirm that the new target is the target to be tracked, and the others are not processed.
And 5.2, tracking the target, namely tracking the new target by adopting an extended Kalman filtering algorithm and tracking the target in the point cloud data of each frame in real time.
And 5.3, target release management, wherein in the target tracking process, if a target leaves the boundary from the inlet area, the target is released, if the target does not leave the boundary from the inlet area, the target is not released even if the target is lost (when the target is lost, a new target can be formed by an actual target, and when the new target is formed, the old target can be released by processing according to the previous steps, so that the number of tracking targets is consistent with the number of the actual targets, and the defect that the number of radar tracking targets is inaccurate can be overcome.
The scheme provides a target tracking method based on the combination of a millimeter wave radar and scene information, mainly solves the problems of unstable and inaccurate tracking when millimeter waves are used alone based on the combination of point cloud data detected by the millimeter wave radar and the scene information, and can be applied to air conditioners, wall-mounted furnaces and other articles needing control switches. To control the switching on and off of the device according to the user's needs.
It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts described, as some steps may occur in other orders or concurrently depending on the application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.
Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present application.
According to another aspect of the embodiments of the present application, there is also provided a tracking apparatus for an object for implementing the tracking method for an object described above. Fig. 4 is a schematic diagram of an alternative target tracking apparatus according to an embodiment of the present application, and as shown in fig. 4, the apparatus may include:
a first obtaining unit 401, configured to obtain point cloud data acquired by a radar apparatus;
a second obtaining unit 403, configured to obtain scene information input for the point cloud data;
and a tracking unit 405, configured to perform target tracking according to the point cloud data and the scene information.
It should be noted that the first obtaining unit 401 in this embodiment may be configured to execute step S1 in this embodiment, the second obtaining unit 403 in this embodiment may be configured to execute step S2 in this embodiment, and the tracking unit 405 in this embodiment may be configured to execute step S3 in this embodiment.
Through the modules, when the millimeter wave radar is used, the boundary and the range to be detected are actively given to the millimeter wave radar, and then the millimeter wave radar carries out accurate detection and tracking aiming at data according to the incoming boundary data. The method is based on the combination of the millimeter wave radar and the user scene information, targets in the area are tracked, and the technical problem that the target tracking accuracy of the radar is low can be solved.
Optionally, the first obtaining unit is further configured to: in a case where the radar device is located on a roof, acquiring the scene information including: the height of the radar from the ground, the length and the width of a region to be detected and the positions of the radar entering and exiting the detection region; in a case where the radar device is located at a corner, the scene information including: the position of the four walls of the area to be detected relative to the radar and the position of the four walls entering and exiting the detection area; in a case where the radar device is located on a side of a wall, the scene information including: the position of the other three walls except the wall where the radar is located in the four walls of the area to be detected relative to the radar and the positions of the other three walls entering and exiting the detection area.
Optionally, the tracking unit is further configured to: clustering the point cloud data of each frame by adopting a clustering algorithm to detect a target; tracking a target in the point cloud data of each frame in real time by adopting an extended Kalman filtering algorithm; and releasing the target which goes out of the radar detection area in the target tracking process.
Optionally, the tracking unit is further configured to: and performing clustering detection on the point cloud data of each frame in different areas by adopting a clustering algorithm, wherein the different areas comprise an inlet area and an indoor area.
Optionally, the tracking unit is further configured to: after the point cloud data of each frame is subjected to regional clustering detection by adopting a clustering algorithm, under the condition that a formed new target is positioned in an inlet region, the new target is confirmed to be a target to be tracked; confirming that the new target is a target to be tracked and releasing an old target in the indoor area under the condition that the formed new target is located in the indoor area and the old target exists in the indoor area; in the case where the formed new target is located in the indoor area and the old target does not exist in the indoor area, the new target is not taken as the target to be tracked.
Optionally, the tracking unit is further configured to: after the clustering algorithm is adopted to perform clustering detection on the point cloud data of each frame in a subarea manner, if new targets continuously appear in the indoor area for multiple times within a period of target time and the old targets do not exist in the indoor area, the new targets are determined as targets to be tracked.
It should be noted here that the modules described above are the same as the examples and application scenarios implemented by the corresponding steps, but are not limited to the disclosure of the above embodiments. It should be noted that the modules as a part of the apparatus may run in a corresponding hardware environment, and may be implemented by software, or may be implemented by hardware, where the hardware environment includes a network environment.
According to another aspect of the embodiments of the present application, there is also provided a server or a terminal for implementing the tracking method of the above object.
Fig. 5 is a block diagram of a terminal according to an embodiment of the present application, and as shown in fig. 5, the terminal may include: one or more processors 201 (only one shown), memory 203, and transmission means 205, as shown in fig. 5, the terminal may further comprise an input-output device 207.
The memory 203 may be configured to store software programs and modules, such as program instructions/modules corresponding to the target tracking method and apparatus in the embodiment of the present application, and the processor 201 executes various functional applications and data processing by running the software programs and modules stored in the memory 203, that is, the tracking method for the target described above is implemented. The memory 203 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 203 may further include memory located remotely from the processor 201, which may be connected to the terminal over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission device 205 is used for receiving or sending data via a network, and can also be used for data transmission between a processor and a memory. Examples of the network may include a wired network and a wireless network. In one example, the transmission device 205 includes a Network adapter (NIC) that can be connected to a router via a Network cable and other Network devices to communicate with the internet or a local area Network. In one example, the transmission device 205 is a Radio Frequency (RF) module, which is used for communicating with the internet in a wireless manner.
Wherein the memory 203 is specifically used for storing application programs.
The processor 201 may call the application stored in the memory 203 via the transmission means 205 to perform the following steps:
acquiring point cloud data acquired by a radar device;
acquiring scene information input for the point cloud data;
and tracking the target according to the point cloud data and the scene information.
The processor 201 is further configured to perform the following steps:
in a case where the radar device is located on a roof, acquiring the scene information including: the height of the radar from the ground, the length and the width of a region to be detected and the positions of the radar entering and exiting the detection region;
in a case where the radar device is located at a corner, the scene information including: the position of the four walls of the area to be detected relative to the radar and the position of the four walls entering and exiting the detection area;
in a case where the radar device is located on a side of a wall, the scene information including: the position of the other three walls except the wall where the radar is located in the four walls of the area to be detected relative to the radar and the positions of the other three walls entering and exiting the detection area.
Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, and this embodiment is not described herein again.
It can be understood by those skilled in the art that the structure shown in fig. 5 is only an illustration, and the terminal may be a terminal device such as a smart phone (e.g., an Android phone, an iOS phone, etc.), a tablet computer, a palm computer, and a Mobile Internet Device (MID), a PAD, etc. Fig. 5 is a diagram illustrating a structure of the electronic device. For example, the terminal may also include more or fewer components (e.g., network interfaces, display devices, etc.) than shown in FIG. 5, or have a different configuration than shown in FIG. 5.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by a program instructing hardware associated with the terminal device, where the program may be stored in a computer-readable storage medium, and the storage medium may include: flash disks, Read-Only memories (ROMs), Random Access Memories (RAMs), magnetic or optical disks, and the like.
Embodiments of the present application also provide a storage medium. Alternatively, in the present embodiment, the storage medium may be used for program codes for executing a tracking method of a target.
Optionally, in this embodiment, the storage medium may be located on at least one of a plurality of network devices in a network shown in the above embodiment.
Optionally, in this embodiment, the storage medium is configured to store program code for performing the following steps:
acquiring point cloud data acquired by a radar device;
acquiring scene information input for the point cloud data;
and tracking the target according to the point cloud data and the scene information.
Optionally, the storage medium is further arranged to store program code for performing the steps of:
in a case where the radar device is located on a roof, acquiring the scene information including: the height of the radar from the ground, the length and the width of a region to be detected and the positions of the radar entering and exiting the detection region;
in a case where the radar device is located at a corner, the scene information including: the position of the four walls of the area to be detected relative to the radar and the position of the four walls entering and exiting the detection area;
in a case where the radar device is located on a side of a wall, the scene information including: the position of the other three walls except the wall where the radar is located in the four walls of the area to be detected relative to the radar and the positions of the other three walls entering and exiting the detection area.
Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, and this embodiment is not described herein again.
Optionally, in this embodiment, the storage medium may include, but is not limited to: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
The integrated unit in the above embodiments, if implemented in the form of a software functional unit and sold or used as a separate product, may be stored in the above computer-readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or a part of or all or part of the technical solution contributing to the prior art may be embodied in the form of a software product stored in a storage medium, and including instructions for causing one or more computer devices (which may be personal computers, servers, network devices, or the like) to execute all or part of the steps of the method described in the embodiments of the present application.
In the above embodiments of the present application, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed client may be implemented in other manners. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one type of division of logical functions, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The foregoing is only a preferred embodiment of the present application and it should be noted that those skilled in the art can make several improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.
Claims (10)
1. A method for tracking a target, comprising:
acquiring point cloud data acquired by a radar device;
acquiring scene information input for the point cloud data;
and tracking the target according to the point cloud data and the scene information.
2. The method of claim 1, wherein obtaining scene information input for the point cloud data comprises:
in a case where the radar device is located on a roof, acquiring the scene information including: the height of the radar from the ground, the length and the width of a region to be detected and the positions of the radar entering and exiting the detection region;
in a case where the radar device is located at a corner, the scene information including: the position of the four walls of the area to be detected relative to the radar and the position of the four walls entering and exiting the detection area;
in a case where the radar device is located on a side of a wall, the scene information including: the position of the other three walls except the wall where the radar is located in the four walls of the area to be detected relative to the radar and the positions of the other three walls entering and exiting the detection area.
3. The method of claim 1, wherein performing target tracking from the point cloud data and the scene information comprises:
clustering the point cloud data of each frame by adopting a clustering algorithm to detect a target;
tracking a target in the point cloud data of each frame in real time by adopting an extended Kalman filtering algorithm;
and releasing the target which goes out of the radar detection area in the target tracking process.
4. The method of claim 3, wherein clustering the point cloud data of each frame using a clustering algorithm to detect the target comprises:
and performing clustering detection on the point cloud data of each frame in different areas by adopting a clustering algorithm, wherein the different areas comprise an inlet area and an indoor area.
5. The method of claim 4, wherein after performing a clustering detection on the point cloud data of each frame by partition using a clustering algorithm, the method further comprises:
in the case where the formed new target is located in the entry area, confirming the new target as a target to be tracked;
confirming that the new target is a target to be tracked and releasing an old target in the indoor area under the condition that the formed new target is located in the indoor area and the old target exists in the indoor area;
in the case where the formed new target is located in the indoor area and the old target does not exist in the indoor area, the new target is not taken as the target to be tracked.
6. The method of claim 5, wherein after performing a clustering detection on the point cloud data of each frame by partition using a clustering algorithm, the method further comprises:
and if new targets continuously appear in the indoor area for multiple times within a period of target time and the old targets do not exist in the indoor area, determining that the new targets are targets to be tracked.
7. The method of claim 3, wherein releasing targets that have traveled out of the radar detection area during target tracking comprises:
in the target tracking process, if a target moves out of the boundary from the inlet area, the target is released, wherein if the target does not move out of the boundary from the inlet area, the target is not released even if the target is lost.
8. An apparatus for tracking an object, comprising:
the first acquisition unit is used for acquiring point cloud data acquired by the radar device;
a second acquisition unit configured to acquire scene information input for the point cloud data;
and the tracking unit is used for tracking the target according to the point cloud data and the scene information.
9. A storage medium, characterized in that the storage medium comprises a stored program, wherein the program when executed performs the method of any of the preceding claims 1 to 7.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the method of any of the preceding claims 1 to 7 by means of the computer program.
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