Roadside vehicle identification method based on vision and laser radar fusion

A technology of lidar and radar, which is applied in neural learning methods, re-radiation of electromagnetic waves, details involving 3D image data, etc., can solve problems that affect the effect of vehicle recognition and easy changes in light intensity

Active Publication Date: 2020-09-22
SOUTHEAST UNIV
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Problems solved by technology

In addition, the roadside scene is in the open air, and the light intensity is easy to change, which greatly affects the effect of vehicle recognition.

Method used

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  • Roadside vehicle identification method based on vision and laser radar fusion
  • Roadside vehicle identification method based on vision and laser radar fusion
  • Roadside vehicle identification method based on vision and laser radar fusion

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Embodiment Construction

[0067] With the rapid development of the modern social economy and the acceleration of the urbanization process, automobiles occupy an increasingly important position in people's production and life. With the rapid increase of vehicles, traffic has gradually become a hot issue in social development. The intelligent vehicle road system came into being, aiming at improving the traffic conditions with the help of modern science and technology, and realizing a high degree of coordination of "people-vehicle-road-cloud", which is an effective way to solve the current urban traffic problems.

[0068] In the intelligent vehicle road system based on the intelligence of vehicles and roads, "smart cars" and "smart roads" are important dual drivers. "Smart car" means smart car, and "smart road" means smart roadside equipment. In the intelligent vehicle road system, the environmental perception sources of intelligent vehicles can be mainly divided into two categories, namely, autonomous e...

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Abstract

The invention discloses a roadside vehicle identification method based on vision and laser radar fusion. Aiming at the problem that the vehicle identification accuracy is low under different illumination conditions of a roadside visual angle, the method comprises the steps of: carrying out the calibration of a roadside environment sensing system sensor, including the self-calibration of a camera and the joint calibration between sensors, and laying a foundation for the information fusion of the sensors; fusing image information and radar point cloud data on a data level and a feature level, and building a roadside vehicle identification network model CBYOLO based on vision and laser radar fusion; then, training a CBYOLO network by utilizing the roadside data set; and finally, using the trained CBYOLO network to carry out roadside vehicle identification. The roadside vehicle identification method based on vision and laser radar fusion provided by the invention has good environmental adaptability and high accuracy.

Description

technical field [0001] The invention belongs to the fields of sensor fusion, laser radar technology and deep learning, and relates to a roadside vehicle recognition method based on fusion of vision and laser radar. Background technique [0002] With the rapid development of the modern social economy and the acceleration of the urbanization process, automobiles occupy an increasingly important position in people's production and life. With the rapid increase of vehicles, traffic has gradually become a hot issue in social development. The intelligent vehicle road system came into being, aiming at improving the traffic conditions with the help of modern science and technology, and realizing a high degree of coordination of "people-vehicle-road-cloud", which is an effective way to solve the current urban traffic problems. [0003] In the intelligent vehicle road system based on the intelligence of vehicles and roads, "smart cars" and "smart roads" are important dual drivers. "...

Claims

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Application Information

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IPC IPC(8): G01S17/86G01S17/89G01S17/931G06T7/80G06T7/90G06N3/08
CPCG01S17/86G01S17/89G01S17/931G06T7/80G06T7/90G06N3/08G06T2207/10044G06T2207/10004G06T2207/20221G06T2207/20081G06T2207/20084G06T2200/04G06T2207/30252
Inventor 李旭金鹏朱建潇宋世奇
Owner SOUTHEAST UNIV
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