Multi-vision feature vehicle detection method based on multi-sensor fusion

A multi-sensor fusion, vehicle detection technology, applied in instruments, character and pattern recognition, computer parts and other directions, can solve problems such as low robustness, reduce image processing time and overcome low robustness.

Inactive Publication Date: 2016-05-11
CHINA NORTH VEHICLE RES INST
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  • Abstract
  • Description
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Problems solved by technology

[0005] The technical problem to be solved by the present invention is: how to use the information provided by each sensor to detect vehicles, and overcome the disadvantage of low robustness when using a single attribute feature to detect vehicles

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  • Multi-vision feature vehicle detection method based on multi-sensor fusion
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Embodiment Construction

[0017] In order to make the purpose, content, and advantages of the present invention clearer, the specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0018] The embodiment of the present invention provides a multi-sensor fusion-based multi-visual feature vehicle detection method, comprising the following steps:

[0019] Step S1: In a dynamic scene, spatially align the image information and vehicle data information simultaneously observed by the camera and the millimeter-wave radar. Such as figure 1 As shown, Oρθ is the millimeter-wave radar coordinate system, O'mn is the camera image coordinate system, P' and P represent the image information and Vehicle data information. Therefore, the vehicle data information observed by the millimeter-wave radar is projected into the image information observed by the camera through the coordinate transformation relation (1), an...

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Abstract

The invention relates to a multi-vision feature vehicle detection method based on multi-sensor fusion, and belongs to the technical field of unmanned vehicles. The method comprises the following steps: firstly, acquiring image and data information of a forward vehicle through a millimeter-wave radar and a camera, and obtaining a position of the vehicle in the image through a transformation relationship between a millimeter-wave radar coordinate system and an image coordinate system, so as to obtain a region of interest of the vehicle in the image, and reduce the image processing time and interference of a non region of interest of the vehicle on image processing; and then, fusing three attribute properties of the vehicle, namely vehicle bottom shadow, vehicle symmetry and vehicle left and right edges to realize vehicle detection. The multi-vision feature vehicle detection method based on the multi-sensor fusion provided by the invention overcomes the disadvantage that the robustness is low when using a single attribute feature to detect the vehicle.

Description

technical field [0001] The invention relates to the technical field of unmanned vehicles, in particular to a vehicle detection method based on multi-sensor fusion with multiple visual features. Background technique [0002] An unmanned vehicle is a highly intelligent device integrating environmental perception, dynamic decision-making and planning, behavior control and execution. Among them, environmental perception technology is an important basic guarantee, and the detection of dynamic target vehicles is an important research content in environmental perception, which is of great significance to the autonomous navigation of unmanned vehicles. Vision-based vehicle detection methods can provide rich image information, and can obtain vehicle size and contour information, but the robustness of single visual features to vehicle detection is low; radar-based vehicle detection methods can provide rich longitudinal information, which can The position and relative speed informatio...

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Application Information

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IPC IPC(8): G06K9/62G06K9/00
CPCG06V20/46G06V2201/08G06F18/253
Inventor 靳璐苏波康晓吴越
Owner CHINA NORTH VEHICLE RES INST
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