Unmanned driving platform real-time target 3D detection method based on camera and laser radar

Abstract

The invention discloses an unmanned driving platform real-time target detection system based on a camera and a laser radar. Space-time synchronous pixel-level fusion is performed on original data of acamera and a laser radar; a clustering detection result is obtained by combining the obtained space-time synchronization data with a data analysis method of the laser radar; an improved faster-rcnn network architecture is constructed to perform parameter training and real-time detection; and the type, length, width and height of a target object around an unmanned driving platform, the distance ofa central point relative to the space coordinate of the unmanned driving platform, a yaw angle, a roll angle and a pitch angle are output. According to the system and a detection method thereof, a traditional clustering and artificial intelligence fusion algorithm is adopted, the defects that the image detection space positioning precision is low and the category is difficult to judge through point cloud detection are overcome, and a real-time 3D target detection system based on a camera and a laser radar in an unmanned driving platform scene is realized.

Description

technical field [0001] The invention belongs to the field of computer vision, and in particular relates to a real-time 3D detection method for an unmanned driving platform based on a camera and a laser radar. Background technique [0002] Since the development of driverless platform vehicle technology, a model of multi-sensor information fusion, high-precision map and positioning, environmental perception, decision-making and path planning, and vehicle underlying control has basically been formed. Among them, environmental perception is the basis for safe driving of the driverless platform. And the premise, driving strategy formulation, path planning, and vehicle underlying control of driverless platform vehicles all directly depend on highly robust and accurate perception. [0003] Existing systems for perception and detection based on a single sensor are mainly divided into three categories: camera, laser radar, and millimeter-wave radar. The perception and detection syste...

AI Technical Summary

Problems solved by technology

[0016] The purpose of the present invention is to provide a real-time 3D detection method for unmanned platforms based on cameras and laser radars applied to unmanned platforms and related autonomous mobile platforms, which overcomes the low positioning accuracy of image detection space and the difficulty of point cloud detection. Judging the shortcomings of categories, realizing real-time 3D target detection based on cameras and lidar in unmanned platform scenes, improving the speed and accuracy of target object detection on unmanned platforms

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