Target detection method based on millimeter wave radar prior positioning and visual feature fusion

Abstract

The invention discloses a target detection method based on millimeter-wave radar prior positioning and visual feature fusion. The method comprises the steps: obtaining millimeter-wave radar point cloud data and a camera image at the same time based on a calibrated millimeter-wave radar and a calibrated vehicle-mounted camera; performing spatial three-dimensional coordinate transformation on the millimeter-wave radar point cloud data so as to project the data to a camera plane; based on the projected millimeter wave radar point cloud data, generating a plurality of anger samples according to apreset anger strategy, and based on the speed distance weight of each candidate area, obtaining a final anger sample; rGB information of a camera image and scattering cross section intensity information of millimeter wave radar point cloud data are fused to obtain features of a final sample; and inputting the features of the final anner sample into a detection network, and generating information of the category and the position of the target in the scene. According to the method, the existing detection framework is optimized by fully utilizing the characteristics of information returned by themillimeter-wave radar, so that the accuracy of road target detection in an all-weather scene is improved.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a target detection method based on millimeter-wave radar prior positioning and visual feature fusion. Background technique [0002] Target detection in the road scene is the key technical link to realize the vehicle's automatic driving perception, so as to ensure that the vehicle driving perception system determines the environment around the vehicle, avoids collisions with other vehicles, pedestrians and other targets, and predicts the execution of the auxiliary decision-making system in advance to realize the vehicle Safe autonomous driving on the road. [0003] The automatic driving perception system recognizes the surrounding targets, which can be used to identify the targets in the current scene by extracting the features of the visual image acquired by the camera, which is very similar to the human perception through the visual system. It's easier for people, but...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to overcome the deficiencies of the prior art, and propose a target detection method that fully utilizes the multi-mode fusion of millimeter-wave radar information and vision. The main feature of this method is to fuse millimeter-wave radar point clouds and camera images Target detection, using millimeter-wave point cloud as a supplement to image space information and enhancement of semantic features, using images to make up for the defect of low sampling density of point cloud, using fusion information to enhance visual information Targets in complex road scenes such as rain, fog, and night Robustness of Detection Algorithms

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