Traveling vehicle vision detection method combining laser point cloud data

Abstract

The invention discloses a traveling vehicle vision detection method combining laser point cloud data, belongs to the field of unmanned driving, and solves the problems in vehicle detection with a laser radar as a core in the prior art. The method comprises the following steps: firstly, completing combined calibration of a laser radar and a camera, and then performing time alignment; calculating anoptical flow grey-scale map between two adjacent frames in the calibrated video data, and performing motion segmentation based on the optical flow grey-scale map to obtain a motion region, namely a candidate region; searching point cloud data corresponding to the vehicle in a conical space corresponding to the candidate area based on the point cloud data after time alignment corresponding to eachframe of image to obtain a three-dimensional bounding box of the moving object; based on the candidate region, extracting a direction gradient histogram feature from each frame of image; extracting features of the point cloud data in the three-dimensional bounding box; and based on a genetic algorithm, carrying out feature level fusion on the obtained features, and classifying the motion areas after fusion to obtain a final driving vehicle detection result. The method is used for visual inspection of the driving vehicle.

Description

Technical field [0001] A visual detection method for driving vehicles combined with laser point cloud data is used for visual detection of driving vehicles and belongs to the field of unmanned driving. Background technique [0002] The perception of the surrounding environment by unmanned vehicles is a key issue for unmanned driving and assisted driving tasks. The detection of moving vehicles on the road will provide an important basis for unmanned vehicle behavior decisions. Obtaining reliable and relevant information is particularly necessary for driving safety. The detection of moving vehicles on the road has high requirements for real-time and reliability, which adds difficulty to the detection task. [0003] Lidar and camera are extremely important sensor components in unmanned vehicles. Lidar has received widespread attention due to its advantages in spatial information acquisition, but due to the limited ability of point cloud data to obtain details, the accuracy of obstacl...

AI Technical Summary

Problems solved by technology

[0005] In view of the above research problems, the purpose of the present invention is to provide a driving vehicle visual detection method combined with laser point cloud data to solve the lack of mining of image sequence information, complex calculations and Problems with extremely high hardware requirements

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