Tracking Intruders Algorithm Based on Single-Line LiDAR Point Cloud for the Platform End of Railway Passenger Stations
Xiaoshu Wang, Tianyun Shi, Yajing Shi, Wei Tao Bai, Xiaojun Lv, Yushan Zhang · 2023
Platform end security control is of utmost importance in railway passenger station safety management. Station personnel track intruders using a single-line LiDAR. This paper analyzes the characteristics of intruder targets at the platform end and the point cloud features of intruders collected by the single-line LiDAR. An algorithm for tracking intruder targets at the platform end of the single-line LiDAR point cloud is proposed in this paper. By integrating spatial and temporal factors, spatial data processing is conducted in the first stage to process the single-frame data and construct multi-arc rectangles of intruder targets. In the second stage, data correlation calculations are performed on the radar frames based on the time series, resulting in a correlation matrix. The Hungarian algorithm is employed for multi-object correlation between frames. Specifically, for one-to-many matching situations, the dynamic time warping method is used to associate and match the arcs within the multi-arc rectangles, enabling secondary matching for inter-frame target alignment and achieving intruder target tracking at the platform end using the single-line LiDAR point cloud. Experimental results demonstrate that the proposed algorithm can track platform intruder targets.