Method and device of multi-focal sensing of an obstacle and non-volatile computer-readable storage medium

A device of multi-focal sensing of an obstacle, comprising:

• a camera with long focus lens for acquiring detection results of obstacles;
• a camera with short focus lens for acquiring detection results of obstacles;
• and
• a controller comprising a memory and a processor, wherein the memory has computer programs stored thereon, and the computer programs are executed by the processor to cause the processor to:
• acquire detection results of the obstacles at multiple moments by utilizing the camera with the long focus lens and the camera with the short focus lens;
• perform a target tracking to the acquired detection results, to obtain at least two tracking sequences, wherein each tracking sequence comprises detection results acquired at the multiple moments for a same obstacle;
• and
• match two random tracking sequences of the at least two tracking sequences, and combining the two random tracking sequences into a combined tracking sequence, if the matching is successful.

A non-transitory computer readable storage medium, in which a computer program is stored, wherein the program, when executed by a processor, causes the processor to execute a method for multi-focal sensing of an obstacle, comprising:

• acquiring detection results of obstacles at multiple moments by utilizing a camera with long focus lens and a camera with short focus lens;
• performing a target tracking to the acquired detection results, to obtain at least two tracking sequences, wherein each tracking sequence comprises detection results acquired at the multiple moments for a same obstacle;
• and
• matching two random tracking sequences of the at least two tracking sequences, and combining the two random tracking sequences into a combined tracking sequence, if the matching is successful.