Camera and radar target matching method based on cross correlation coefficient
A cross-correlation coefficient, radar target technology, applied in the field of multi-sensor data fusion in intelligent transportation, can solve problems such as large gaps in position information, achieve the effect of small calculation, solve target matching problems, and eliminate overall deviations
Pending Publication Date: 2021-04-13
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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[0004] In view of the above problems, the present invention provides a method for matching the camera and the radar target based on the cross-correlation coefficient; it solves the problem that there may be a large gap in the position information when the camera and the target acquired by the radar are matched.
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[0032] In order to illustrate the technical solution of the present invention more clearly, the technical solution of the present invention is described in further detail below in conjunction with the accompanying drawings:
[0033] Such as figure 1 Described; A kind of camera and radar target matching method based on cross-correlation coefficient, it is characterized in that, concrete steps are as follows:
[0034] Step (1.1), at the same time, project the coordinate values of the target detected by the millimeter-wave radar and the camera in the road surface coordinate system into two zero matrices of the same specification, so as to obtain the radar target position information matrix and the camera target position information matrix;
[0035] Step (1.2), based on the algorithm of cross-correlation coefficient, carry out overall correction to the obtained radar target position information matrix and camera target position information matrix;
[0036] Step (1.3), for each...
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The invention discloses a camera and radar target matching method based on a cross correlation coefficient. The method belongs to the technical field of information fusion of multi-element sensors in intelligent transportation, and comprises the following specific steps: projecting a target detected by a millimeter-wave radar and a camera into two zero matrixes with the same specification according to road surface coordinate values; performing overall correction on the obtained radar target position information matrix and the camera target position information matrix based on a cross correlation coefficient algorithm; for each monitored lane, setting the corrected radar target position information matrix and the corrected camera target position information matrix into two sets, and performing local correction on target positions in the two sets by using a bipartite graph matching algorithm with a weight so as to enable the two sets to be matched with each other; and target matching of the camera and the radar is completed after mutual matching. According to the invention, the target matching problem of the multi-element sensor in the intelligent traffic monitoring system is solved, and the method has the advantages of small calculation amount and less time consumption on a common computer.
Description
technical field [0001] The invention belongs to the technical field of multi-sensor data fusion in intelligent transportation, and in particular relates to a method for matching a camera and a radar target based on a cross-correlation coefficient. Background technique [0002] Most of the existing traffic detection systems only use a single camera to obtain road information, but the accuracy of the obtained target location information is low, and its detection effect is easily affected by weather such as rain and fog. need. With the development of intelligent transportation, more and more sensors are added to the traffic detection system, such as millimeter-wave radar, geomagnetic, laser radar and other sensors, using the respective advantages of different sensors to perform multi-sensor data fusion, which greatly improves the system. detection performance. Millimeter-wave radar can detect the position and speed information of the target in real time. It has strong environ...
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IPC IPC(8): G01S13/86G01S13/91G01S13/92G01S13/50G06F17/16G08G1/017G08G1/04
CPCG01S13/867G01S13/91G01S13/92G01S13/50G06F17/16G08G1/0175G08G1/04
Inventor 孙煜华张弓吴彬倩
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS