Laser radar three-dimensional target rapid detection method based on pseudo-image technology

A technology of three-dimensional targets and laser radar, which is applied in the directions of measuring devices, electromagnetic wave re-radiation, and radio wave measurement systems, can solve the problems of three-dimensional convolution operation that consumes a lot of calculations and cannot be realized, and achieves the goal of improving detection accuracy and rapid detection Effect

Active Publication Date: 2020-06-05
JIANGSU UNIV
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Problems solved by technology

However, the three-dimensional convolution operation is very computationally intensive in large scenes, and it cannot even be realized.

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  • Laser radar three-dimensional target rapid detection method based on pseudo-image technology
  • Laser radar three-dimensional target rapid detection method based on pseudo-image technology
  • Laser radar three-dimensional target rapid detection method based on pseudo-image technology

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Embodiment Construction

[0022] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

[0023] like figure 1 As shown, the rapid detection method of lidar 3D target based on pseudo-image technology specifically includes the following process:

[0024] Step (1), point cloud data preprocessing

[0025] The lidar collects the surrounding environment of the vehicle, generates the original point cloud data, preprocesses the original point cloud data, and uses the random sampling consensus algorithm (RANSAC) to detect the ground points of the point cloud data. For flat areas, use random sampling consensus The ground point is removed from the entire point cloud data by the algorithm; for uneven areas, the point cloud data is divided into blocks first, and then the ground point is removed from the point cloud data in each block.

[0026] The principle of using the...

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Abstract

The invention provides a laser radar three-dimensional target rapid detection method based on a pseudo-image technology. The method comprises the steps that S1, removing ground points in original point cloud data; S2, converting three-dimensional point cloud data into a two-dimensional pseudo image data form with three-dimensional feature information; S3, setting a two-dimensional convolutional neural network fusion feature layer, and capturing feature maps of a pseudo image under three different scales; S4, realizing position regression and category identification of a target by utilizing anSSD detection positioning network based on the feature maps of the pseudo-image under different scales; S5, setting a total loss function of a detection network; and S6, performing network training toobtain a standard three-dimensional target detection network for performing three-dimensional target detection based on laser radar acquisition point cloud data. According to the method, a large amount of calculation is reduced, and the position, size, shape and other information of a detected target are accurately obtained while the detection process speed is ensured.

Description

technical field [0001] The invention belongs to the field of unmanned vehicles, and relates to an environment perception method for unmanned vehicles, in particular to a fast three-dimensional target detection method based on laser radar. Background technique [0002] 3D object detection based on point cloud is an indispensable task in the development of unmanned driving technology. 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. The point cloud data collected and generated by lidar is currently the main input to realiz...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/62G06N3/04G01S17/86
CPCG06V20/56G06N3/045G06F18/24147G06F18/214Y02A90/10
Inventor 蔡英凤栾天雨王海李祎承陈小波
Owner JIANGSU UNIV
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