Multi-feature fusion vehicle detection method based on camera and millimeter wave radar

A millimeter-wave radar and multi-feature fusion technology, applied in image analysis, image data processing, instruments, etc., can solve the problem of high leakage rate

Active Publication Date: 2020-04-14
CHONGQING UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the single-feature algorithm is greatly affected by factors such as weather and light, and has a high leakage rate.

Method used

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  • Multi-feature fusion vehicle detection method based on camera and millimeter wave radar
  • Multi-feature fusion vehicle detection method based on camera and millimeter wave radar
  • Multi-feature fusion vehicle detection method based on camera and millimeter wave radar

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Embodiment Construction

[0038] Embodiments of the technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings. The following examples are only used to illustrate the technical solutions of the present invention more clearly, and therefore are only examples, rather than limiting the protection scope of the present invention.

[0039] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application shall have the usual meanings understood by those skilled in the art to which the present invention belongs.

[0040] see figure 1 , a multi-feature fusion vehicle detection method based on camera and millimeter-wave radar provided in this embodiment includes the following steps:

[0041] Step 1: Jointly calibrate the camera and the millimeter-wave radar in time and space, and project the target position information detected by the radar into the camera pixel coordinate system. Let [X, Y, Z...

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Abstract

The present invention provides a multi-feature fusion vehicle detection method based on camera and millimeter-wave radar. The position information of the obstacles in front is obtained through the millimeter-wave radar, and the obstacles in front are converted from the radar coordinate system to the image coordinate system through a joint calibration method. Establish the vehicle interest area on the image, use the vehicle horizontal straight line feature, vehicle bottom shadow feature and gray entropy feature to identify the vehicle feature of the interest area, and then use the evidence theory algorithm to fuse and calculate the three features, and finally realize the vehicle detection . The image processing time is reduced by millimeter-wave radar region of interest projection, and the real-time performance of detection is improved. The robustness of vehicle detection is improved by multi-feature fusion method.

Description

technical field [0001] The invention relates to the technical field of intelligent vehicles, in particular to a multi-feature fusion vehicle detection method based on a camera and a millimeter-wave radar. Background technique [0002] As an important part of intelligent transportation, the development of intelligent vehicles has become a hot spot of global attention. As the "eyes" of intelligent vehicles, intelligent vehicle environment perception technology is an important foundation and prerequisite for the development of intelligent vehicles. Vehicle path planning, autonomous tracking and collision avoidance are all of great significance. At present, the sensors mainly used for vehicle detection include radar and camera. Radar can obtain accurate relative position information of obstacles, but cannot judge the specific shape and size of obstacles. Camera, like the human eye, can obtain image information. After feature algorithm Processing can obtain the shape information...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06K9/00G06K9/62G06T7/11G06T7/41G06T7/136G06T7/80
CPCG06V20/584G06V2201/08G06F18/253
Inventor 郑玲任玥杨威李以农黎予生熊周兵
Owner CHONGQING UNIV
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