基于人机交互的免锚检测和跟踪系统设计

To improve the accuracy and efficiency of object detection and tracking in the off-road environment, an anchor-free object detection and tracking system based on human-computer interaction is proposed. It consists of detection system, command system and object tracking system. For detection system, on the basis of point-based point cloud feature extraction framework, an anchor-free object detection network structure is designed. The command system can display information on real-time environmental situation and select targets interactively in the objects sequence output by the detection network. For tracking system, the appearance model in the objects sequence output by the detection system is used to match with that of the tracked target issued by the comand system to determine the target being tracked. Then the Kalman filter algorithm is adopted for objects motion estimation. The verification analysis is done based on real vehicle data in the off-road environment. The results show that the proposed system achieved an accuracy rate of over 91% without increasing the time taken by the algorithm, which can meet the requirements of autonomous vehicles in off-road scenarios.