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Target object recognition method and device for unmanned vehicles

A technology for unmanned vehicles and target objects, applied in character and pattern recognition, instruments, calculations, etc., can solve problems that limit the accuracy of target object recognition

Active Publication Date: 2019-10-22
BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] However, at present, single-sensor data (image data or point cloud data) is generally used to identify target objects (vehicles, pedestrians, buildings, etc.), which limits the accuracy of target object recognition to a certain extent.

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  • Target object recognition method and device for unmanned vehicles
  • Target object recognition method and device for unmanned vehicles
  • Target object recognition method and device for unmanned vehicles

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Embodiment Construction

[0043] The application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain related inventions, rather than to limit the invention. It should also be noted that, for the convenience of description, only the parts related to the related invention are shown in the drawings.

[0044] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.

[0045] figure 1 An exemplary system architecture 100 of an embodiment of the object recognition method for unmanned vehicles or the object recognition apparatus for unmanned vehicles of the present application can be applied.

[0046] Such as figure 1 As shown, the system ...

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Abstract

The present application discloses a target object recognition method and device for unmanned vehicles. The unmanned vehicle is provided with a laser radar sensor and a camera sensor, and a specific embodiment of the method includes: acquiring point cloud data collected by the laser radar sensor and image data collected by the camera sensor; A target object is detected in the data, and a rectangular frame used to indicate the target object is generated; ground points used to indicate the ground and points outside the viewing range of the camera sensor in the point cloud data are removed to obtain the first A point cloud data; according to the rectangular frame, detect the second point cloud data corresponding to the target object in the first point cloud data; determine the target object in the second point cloud data The corresponding minimum bounding box. This embodiment improves the accuracy of target object recognition for unmanned vehicles.

Description

technical field [0001] The present application relates to the technical field of motor vehicles, in particular to the technical field of unmanned vehicles, and in particular to a target object recognition method and device for unmanned vehicles. Background technique [0002] The control system of an unmanned vehicle relies on sensors to perceive the surrounding environment, including vehicles, pedestrians, and traffic signs. Unmanned vehicles are usually equipped with a variety of sensor devices to obtain more information. Different sensors can complement each other to provide richer information for the control system of unmanned vehicles to perceive. Lidar sensors and camera sensors are the most commonly used and also the most important sensor devices in unmanned vehicles. [0003] The lidar sensor uses laser to scan the surrounding environment of the unmanned vehicle and generates point cloud data. Through the point cloud data, the control system of the unmanned vehicle ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06K9/00
CPCG06V20/56G06V2201/07
Inventor 桂坡坡李博夏添
Owner BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD