CN-115797404-B - Radar and infrared thermal imaging composite target detection and tracking method and storage medium

CN115797404BCN 115797404 BCN115797404 BCN 115797404BCN-115797404-B

Abstract

A radar and infrared thermal imaging composite target detection and tracking method and storage medium comprise the steps of S1, respectively carrying out imaging processing on millimeter wave radar data and infrared thermal imaging original data in a given space, S2, removing background in radar imaging results, S3, carrying out time dimension registration on the infrared imaging results based on radar refresh rate, carrying out CFAR detection processing on the matched results, clustering, outputting target point cloud and centroid, S5, obtaining a pixel point position set of a target in a two-dimensional infrared thermal image through a conversion relation from a spatial three-dimensional coordinate system to an infrared two-dimensional image coordinate system, S6, carrying out thermal feature calculation, and S7, outputting feature information of the target. The storage medium is used to implement the above-described method. The invention has the advantages of simple principle, wide application range, high detection precision and the like.

Inventors

DU YI
TANG LIANGYONG
WANG SHENGSHUI
HAN MINGHUA

Assignees

湖南华诺星空电子技术有限公司

Dates

Publication Date: 20260505
Application Date: 20221128

Claims (8)

1. The radar and infrared thermal imaging composite target detection and tracking method is characterized by comprising the following steps: Step S1, acquiring millimeter wave radar data and infrared thermal imaging original data in a given space; s2, respectively carrying out imaging processing on the radar and the infrared data, and removing the background in the radar imaging result; step S3, carrying out time dimension registration on the infrared imaging result by using a radar refresh rate as a reference through a data interpolation method, carrying out CFAR detection processing on the matched radar three-dimensional imaging result, clustering the detection result, and outputting a target point cloud and a centroid; s4, converting the output target point cloud into an infrared two-dimensional image coordinate system through a space three-dimensional coordinate system to obtain a pixel point position set of the target in the two-dimensional infrared thermal image; S5, performing thermal characteristic calculation on a projection set of the target on the two-dimensional infrared thermal image; S6, outputting characteristic information of the target; In the step S3, the correlation matching is performed on the imaging results between the sensors in the time dimension, and the method is as follows: radar sensor No The thermal image corresponding to the frame imaging result is obtained by numerical interpolation: Wherein the method comprises the steps of For the time interval between two adjacent frames of radar, The time interval between two adjacent frames of the infrared thermal imager is set; To obtain a thermal profile of a scene, wherein Representing a frame number of the infrared thermal imager; in the step S3, the target point cloud set of the three-dimensional space is mapped into the two-dimensional infrared thermal image through coordinate system conversion, the first The mapping result of the class object is: Wherein the method comprises the steps of Is the focal length of the thermal imager, The coordinate of the optical center in the image is calculated by the formula Thermal image pixel point set of class target 。
2. The method for detecting and tracking a target by combining radar and infrared thermal imaging according to claim 1, wherein the method for detecting CFAR by constant false alarm is carried out on the radar three-dimensional imaging result with background clutter filtered, specifically: Wherein the threshold value The calculation can be made by the following formula: Wherein, the Is the detection point Is a mean value of the signal within the reference cell, For a set number of reference cells, The false alarm probability parameter at the initial moment is a fixed value, recorded as In the subsequent detection process, the false alarm probability parameters of the area are adjusted according to the thermal characteristics of different positions; to obtain a scene three-dimensional imaging result after background noise is filtered, wherein Representing the frame number of the millimeter wave radar.
3. The method for radar and infrared thermal imaging combined target detection and tracking according to claim 1, wherein in step S3, the binarization result obtained by the constant false alarm detection is obtained Clustering to obtain the first The three-dimensional point cloud set corresponding to the class object is recorded as , A number of point clouds for the set of classes.
4. A radar and infrared thermal imaging combined target detection and tracking method according to any one of claims 1-3, wherein in step S5, thermal feature calculation is performed by using the extracted thermal image pixel values: 。
5. The method for detecting and tracking a target by combining radar and infrared thermal imaging according to claim 4, wherein the obtained thermal characteristics of the target are fed back to CFAR detection, and the radar sensor is arranged at the position of In the frame, the first The false alarm probability parameters near the class target are calculated by: Wherein the method comprises the steps of The method comprises the following steps: Wherein, the Thermal characteristic reference value for an object of interest, wherein In order to set the maximum fluctuation value of the thermal characteristics, The scaling factor corresponding to the maximum fluctuation parameter, which tends to be greater than 0, Is an adjustable parameter.
6. A radar and infrared thermal imaging combined target detection and tracking method according to any one of claims 1-3, wherein in step S5, the calculation result is fed back to CFAR detection, tracking and track management for adaptive adjustment of relevant parameters.
7. A radar and infrared thermal imaging combined target detection and tracking method according to any one of claims 1-3, wherein in step S6, the characteristic information includes centroid position, speed, millimeter wave point cloud and infrared thermal image information.
8. A storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method according to any of claims 1-7.

Description

Radar and infrared thermal imaging composite target detection and tracking method and storage medium Technical Field The invention mainly relates to the technical field of rescue detection equipment, in particular to a radar and infrared thermal imaging combined target detection and tracking method and a storage medium. Background Fire is one of the common disasters threatening the life and property safety of people, and is an important problem for a firefighter to quickly and effectively find out a person to be rescued, which is blocked behind flame or smoke, in a fire scene. Although fire-fighting equipment is more advanced, a substantial solution is lacking for the problem of how fire fighters quickly find people to be rescued that are blocked by flames and smoke at the fire scene. The infrared thermal imaging instrument is used as the existing equipment and is used for firefighter scene rescue, but the equipment is difficult to find the subsequent personnel to be rescued in the face of the situation that the personnel to be rescued are trapped and shielded by flames and thick smoke, and rescue opportunities are easy to miss. The millimeter wave detection equipment has longer relative wavelength, so that the millimeter wave detection equipment can easily penetrate through obstacles such as dense smoke, thin wood plates and the like, is not affected by temperature, can detect flame and life bodies after high-temperature gas, and can easily generate false alarms in complex environments. The existing fire rescue detection equipment mainly comprises an infrared thermal imager and a millimeter wave detector, however, the infrared thermal imager is used for detecting a living body, is seriously influenced by factors such as dense smoke, flame and the like, and is easy to miss. And millimeter wave detection equipment is easy to generate false alarms under the condition of complex fire environments, and the help seeking efficiency is affected. Disclosure of Invention The invention aims at solving the technical problems existing in the prior art, and provides a radar and infrared thermal imaging composite target detection and tracking method and a storage medium with simple principle, wide application range and high detection precision. In order to solve the technical problems, the invention adopts the following technical scheme: a radar and infrared thermal imaging composite target detection and tracking method comprises the following steps: Step S1, acquiring millimeter wave radar data and infrared thermal imaging original data in a given space; s2, respectively carrying out imaging processing on the radar and the infrared data, and removing the background in the radar imaging result; step S3, carrying out time dimension registration on the infrared imaging result by using a radar refresh rate as a reference through a data interpolation method, carrying out CFAR detection processing on the matched radar three-dimensional imaging result, clustering the detection result, and outputting a target point cloud and a centroid; s4, converting the output target point cloud into an infrared two-dimensional image coordinate system through a space three-dimensional coordinate system to obtain a pixel point position set of the target in the two-dimensional infrared thermal image; S5, performing thermal characteristic calculation on a projection set of the target on the two-dimensional infrared thermal image; And S6, outputting the characteristic information of the target. In the step S3, the imaging results among the sensors are correlated and matched in the time dimension, and the method comprises the following steps: radar sensor No The thermal image corresponding to the frame imaging result is obtained by numerical interpolation: Wherein the method comprises the steps of For the time interval between two adjacent frames of radar,The time interval between two adjacent frames of the infrared thermal imager is set; To obtain a thermal profile of a scene, wherein Representing the frame number of the thermal infrared imager. As a further improvement of the method, the radar three-dimensional imaging result with background clutter filtered is subjected to constant false alarm detection CFAR, specifically: Wherein the threshold value The calculation can be made by the following formula: Wherein, the Is the detection pointIs a mean value of the signal within the reference cell,For a set number of reference cells,The false alarm probability parameter at the initial moment is a fixed value, recorded asIn the subsequent detection process, the false alarm probability parameters of the area are adjusted according to the thermal characteristics of different positions; to obtain a scene three-dimensional imaging result after background noise is filtered, wherein Representing the frame number of the millimeter wave radar. As a further improvement of the method, in the step S3, the binarization result obtained by the constant false alar