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Vehicle detection method fusing radar and CCD camera signals

A vehicle detection and camera technology, applied in the field of computer vision, can solve the problem of not being able to obtain vehicle distance information

Active Publication Date: 2014-02-05
BEIJING UNION UNIVERSITY
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Problems solved by technology

The disadvantage of the video sensor is that the distance information of the vehicle cannot be obtained

Method used

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  • Vehicle detection method fusing radar and CCD camera signals
  • Vehicle detection method fusing radar and CCD camera signals
  • Vehicle detection method fusing radar and CCD camera signals

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Embodiment Construction

[0023] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0024] The vehicle detection method of the present invention is realized by software stored in a computer, and the computer is installed in the trunk of the vehicle. The radar is fixed horizontally at the position of the license plate at the front of the car, and the CCD camera is installed at the position of the interior rearview mirror.

[0025] figure 1 A flow chart of a vehicle detection method for fusing radar and CCD camera signals, comprising the following steps:

[0026] Step 1, input radar and CCD camera signals.

[0027] Step 2: Perform camera calibration (including internal and external parameters of the camera), obtain the projection matrix of road plane coordinates and image coordinates, and convert the road plane world coordinates into image plane coordinates.

[0028] The projection process from a point in the world coordinate system t...

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Abstract

The invention discloses a vehicle detection method fusing radar and CCD camera signals. The method includes the steps of inputting the radar and CCD camera signals, correcting a camera to obtain a projection matrix of a road plane coordinate and a projection matrix of an image coordinate, converting a road plane world coordinate into an image plane coordinate, building positive and negative sample sets suitable for a vehicle HOG describer, carrying out batch feature extraction on the vehicle sample sets to build an HOG sample set, building an SVM classification model of a linear support vector machine to train an SVM, extracting regions of interest of barriers detected by radar in a video image, inputting the regions of interest into an SVM classifier to judge a target category, outputting an identifying result, and measuring the distance of a target which is judged to be a vehicle by means of the radar. Combination detection is carried out by means of the radar and CCD camera signals, depth information of the vehicle is obtained, meanwhile, profile information of the vehicle can be well detected, and reliability and accuracy of vehicle detection and positioning are improved.

Description

technical field [0001] The invention belongs to the field of computer vision, and relates to a vehicle detection method in front of an intelligent vehicle based on multi-sensor information fusion technology, in particular to a vehicle detection method by fusing radar and CCD camera signals. Background technique [0002] In intelligent driving technology, the mainstream environmental detection sensors are inertial navigation, laser radar, millimeter wave radar, infrared and color CCD cameras, etc. [0003] The radar can quickly and accurately obtain the vehicle distance information on the two-dimensional horizontal plane in front of the smart car. At the same time, the radar has a high operating frequency, the measured distance data is high-precision, and the price is relatively cheap, which can meet the real-time performance of vehicle detection. However, the amount of information acquired by the radar is relatively small, and the radar alone can only detect the depth inform...

Claims

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Application Information

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IPC IPC(8): G08G1/01G08G1/04G06K9/62
Inventor 鲍泓徐成田仙仙张璐璐
Owner BEIJING UNION UNIVERSITY
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