融合点云投影与YOLOv5，提升智能车前多目标检测追踪精度

In multi-target tracking and detection tasks, it is necessary to continuously track multiple targets, such as vehicles, pedestrians, etc. To achieve this goal, the system must be able to continuously acquire and process image frames containing these targets. These consecutive frame images enable the algorithm to update the position and state of the target in real-time in each frame of the image. How to accurately associate the detected target with the target in the previous or next frame to form a stable trajectory is a complex problem. Therefore, a multi object tracking and detection method for intelligent driving vehicles based on YOLOv5 and point cloud 3D projection is proposed. Using Retinex algorithm to enhance the image of the environment in front of the vehicle, remove light interference in the image, and build an intelligent detection model based on YOLOv5 network structure. The enhanced image is input into the model, and multiple targets in front of the vehicle are identified through feature extraction and target localization. By combining point cloud 3D projection technology, the correlation between the position changes of adjacent frame images in the projection coordinate system can be inferred. By sequentially projecting the multi-target recognition results of multiple consecutive frame images into the 3D laser point cloud environment, effective tracking of the motion trajectories of all targets in front of the vehicle can be achieved. The experimental results show that the application of this method for intelligent driving vehicle front multi-target tracking and detection yields a MOTA (Tracking Accuracy) value greater than 30, demonstrating its superior tracking and detection performance.