Multi-sensor target fusion and tracking method and system

A multi-sensor and fusion method technology, applied in radio wave measurement systems, instruments, image data processing, etc., can solve the problems of direct method and low efficiency, and achieve the effects of reducing interference, improving reliability and accuracy, and improving tracking accuracy

Active Publication Date: 2020-09-11
MOMENTA SUZHOU TECH CO LTD
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AI Technical Summary

Problems solved by technology

These schemes can realize multi-sensor data fusion, but because they only treat different sensors as equal, perform weighted fusion and filter processing, and then obtain detection results, the method is direct but low in efficiency, so there is an urgent need for a perceptual detection method that improves efficiency

Method used

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  • Multi-sensor target fusion and tracking method and system
  • Multi-sensor target fusion and tracking method and system
  • Multi-sensor target fusion and tracking method and system

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Embodiment 2

[0094] Embodiment 2 is based on Embodiment 1 and further improves sensor target fusion. Optionally, on the basis of calculating the optimal match, a step of updating the status of the tracking target and a step of screening and processing the tracking result are added.

[0095] Specific as figure 2 As shown, it includes step 101-step 105 in embodiment 1. In addition, this embodiment 2 may also include step 106: updating the status of the tracking target.

[0096] For the best match obtained in step 105 , process the matched radar target points and visual target points: select superior results of different sensors to update the state of the tracked target.

[0097] The present invention comprehensively considers the characteristics, advantages and disadvantages of the two sensors, and performs different processing on the two kinds of data: because the millimeter-wave radar has higher measurement accuracy for longitudinal distance measurement, and the camera sensor has higher...

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Abstract

The invention discloses a multi-sensor target fusion and tracking method and system. The fusion method comprises the steps of firstly judging whether data transmission time of two sensors is valid ornot, then performing time and space registration on the two pieces of data which are judged to be valid, and removing objects which should not participate in target matching fusion; calculating the fusion coefficient of the data transmitted by the two sensors, and calculating the optimal matching according to the obtained fusion coefficient. According to the tracking method, on the basis of the fusion method, the tracked target state is updated according to the optimal matching result, the tracking result with the large error is screened and processed according to the tracking historical result and prior information, and finally high-precision detection and tracking of the dynamic obstacle are achieved.

Description

technical field [0001] The invention relates to the field of automatic driving, in particular to multi-sensor fusion and target tracking in automatic driving. Background technique [0002] With the development of science and technology, emerging concepts such as autonomous driving and unmanned vehicles have emerged as the times require. Assisted driving and automatic driving both rely on an accurate environment perception, and high-precision detection, identification and tracking of dynamic obstacles are important elements in road scene analysis and environment perception. Through dynamic obstacle perception, the vehicle can obtain information such as the position, speed, and attitude of surrounding vehicles, bicycles, pedestrians, and other obstacles in real time, as one of the important basis for behavior planning. [0003] In the process of detecting and tracking obstacles in the environment, dynamic obstacle perception uses a variety of sensors, including cameras, milli...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/277G06K9/00G06K9/62G01S13/931
CPCG06T7/277G01S13/931G06T2207/30252G06T2207/10004G06T2207/10044G06V20/58G06F18/251
Inventor 贾思博廖岳鹏
Owner MOMENTA SUZHOU TECH CO LTD
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