Tracking Intruders Algorithm Based on Single-Line LiDAR Point Cloud for the Platform End of Railway Passenger Stations

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.