Data fusion method and device based on multiple sensors and storage medium
A data fusion and multi-sensor technology, applied in the computer field, can solve problems such as inability to adaptively adapt to the current scene, poor data fusion effect, fixed weights, etc.
Active Publication Date: 2021-03-02
知行汽车科技(苏州)股份有限公司
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[0005] This application provides a data fusion method, device, and storage medium based on multi-sensors, which can solve the problem that when performing feature fusion based on multi-sensor data, the weight corresponding to each sensor is fixed and cannot adaptively adapt to the current scene, resulting in data Problems with poor fusion
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[0042] The specific implementation manners of the present application will be further described in detail below in conjunction with the drawings and embodiments. The following examples are used to illustrate the present application, but not to limit the scope of the present application.
[0043] First, some terms involved in this application are introduced.
[0044] Feature Extraction (Feature Extraction): It is a process of finding the most effective (invariance of similar samples, discrimination of different samples, robustness to noise) features from the original features.
[0045] Neural Network: It is an algorithmic mathematical model that imitates the behavior characteristics of animal neural networks and performs distributed parallel information processing.
[0046] Feature Level Fusion (Feature Level Fusion): refers to the multi-source heterogeneous sensors to extract their own features, and the extracted different features are generated by a certain method to make ne...
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The invention relates to a data fusion method and device based on multiple sensors and a storage medium, and belongs to the technical field of computers.The method comprises the following steps: acquiring sensor data of the same detection range acquired by n sensors respectively; respectively carrying out feature extraction on the sensor data corresponding to each sensor to obtain a feature map corresponding to each sensor; determining a channel weight of each image channel in the target image area in each feature map; updating channel information of the feature map according to the channel weight to obtain an updated feature map; for a target image area in the updated feature map corresponding to each sensor, determining an area weight of the target image area in the updated feature map;merging the target image regions in each updated feature map according to the region weight to obtain a fused feature map; the problem that an existing data fusion mode based on multiple sensors is poor in data fusion effect can be solved. Data fusion effect can be improved.
Description
technical field [0001] The present application relates to a multi-sensor-based data fusion method, device and storage medium, belonging to the field of computer technology. Background technique [0002] With the development of autonomous driving technology, vehicles currently have environmental perception functions, such as target detection and target recognition. The environment perception function of the vehicle is realized through the sensors installed on the vehicle. Generally, there are many types of sensors on a vehicle, so when performing environment perception, it is necessary to perform data fusion on data collected by various sensors. [0003] At present, the method of data fusion for data collected by multiple sensors includes: performing feature extraction on the data collected by each sensor; and then combining the results of each feature extraction according to a fixed weight. Alternatively, feature extraction is performed on the data collected by each sensor...
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Login to View More IPC IPC(8): G06K9/00G06K9/62
CPCG06V20/56G06F18/253
Inventor 陈伟
Owner 知行汽车科技(苏州)股份有限公司