Method, electronic device and medium for target state estimation

An electronic device, comprising:

• at least one processor;
• and
• a memory communicatively connected to the at least one processor;
• wherein the memory stores an instruction executable by the at least one processor, and the instruction is executed by the at least one processor to enable the at least one processor to execute a method for state estimation of a target, comprising:
• obtaining an observation variable of the target at different moments through a plurality of sensors, wherein at least one observation variable is acquired by each sensor;
• determining a state variable of the target at different moments based on the observation variable;
• and
• optimizing the state variable of the target by minimizing a loss function, wherein the state variable comprises at least one of a velocity, a position, an orientation, or a size of the target;
• wherein the loss function comprises at least one of a position loss, an orientation loss, a velocity loss, a size loss, or a structural constraint of the target;
• wherein the observation variable is obtained by an observation model corresponding to each sensor, and the optimizing the state variable of the target by minimizing the loss function comprises:
• in response to the observation model outputting multiple coordinate values corresponding to a same reference point, discarding the output of the observation model.

A non-transitory computer-readable storage medium storing a computer instruction, wherein the computer instruction is used for causing the computer to execute a method for state estimation of a target, comprising:

• obtaining an observation variable of the target at different moments through a plurality of sensors, wherein at least one observation variable is acquired by each sensor;
• determining a state variable of the target at different moments based on the observation variable;
• and
• optimizing the state variable of the target by minimizing a loss function, wherein the state variable comprises at least one of a velocity, a position, an orientation, or a size of the target;
• wherein the loss function comprises at least one of a position loss, an orientation loss, a velocity loss, a size loss, or a structural constraint of the target;
• wherein the observation variable is obtained by an observation model corresponding to each sensor, and the optimizing the state variable of the target by minimizing the loss function comprises:
• in response to the observation model outputting multiple coordinate values corresponding to a same reference point, discarding the output of the observation model.