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Study on Target Detection and Tracking Method of UAV Based on LiDAR

Unmanned aerial vehicle (UAV) may bring potential danger such as hurting people falling accidents, Therefore the surveillance of trajectory of UAV is subjected to extensive attention for avoiding irreversible damage. This paper presents a target detection and tracking method based on LiDAR, in which target detection uses Euclidean distance clustering and particle filter are utilized to achieve target detection and tracking, respectively. Once UAV is detected by the clustering method, the particle filter algorithm is used to track the target. In the experiment, the Livox Mid 40 LiDAR developed by the Livox company is used as the front-end sensor to detect the UAV. Experimental results show that the proposed method could realize the detection and tracking of UAV.