Vehicle detection method based on laser and vision fusion

Abstract

The invention discloses a vehicle detection method based on laser and vision fusion. The method comprises the following steps of 1) acquiring target detection information for an input image and laserpoint cloud; 2) performing optimal matching on the images of the front frame and the rear frame and the point cloud detection frame, and establishing a tracking sequence of an image and point cloud detection target; 3) fusing the tracking sequences of the image and the detection frame thereof and the tracking sequences of the point cloud and the detection frame thereof; 4) classifying all the target detection boxes, outputting a fusion list, and outputting a fusion result; and 5) obtaining the accurate position of the surrounding vehicle relative to the vehicle in the current frame, reading the next frame of image and the point cloud data, circulating the steps 1) to 5), and outputting a fusion detection result. According to the method, on the basis of point cloud and image target detection, the detection result is subjected to information tracking, the detection result is optimally matched, and the fusion result is preferentially input into the final fusion list, so that compared witha single sensor target detection method, the target detection precision is improved, and the false detection rate is reduced.

Description

technical field [0001] The invention relates to the field of environment perception of intelligent driving vehicles, in particular to a vehicle detection method based on fusion of laser and vision. Background technique [0002] Nowadays, intelligence has become an important development trend of the automobile industry, and more and more intelligent assisted driving functions are gradually changing people's travel experience. With the continuous improvement of intelligence, intelligent driving is developing rapidly in the direction of unmanned driving. The environmental perception system needs to provide accurate and reliable target category and location information for unmanned vehicles, and provide reliable decision-making information for unmanned vehicle path planning and vehicle control. [0003] In recent years, more and more advanced target detection algorithms have been continuously produced in visual image and laser point cloud processing, but target detection only r...

AI Technical Summary

Problems solved by technology

[0006] The technical problem to be solved by the present invention is that the current environmental perception scheme relying only on a single sensor cannot meet the target detection requirements of vehicles in complex traffic scenes. In order to improve the target detection accuracy and reduce the false detection rate in the environmental perception system, the present invention proposes a A vehicle detection method in traffic environment based on laser and vision fusion

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