Bessel modeling-based roadside radar real-time background filtering method

A radar and filtering technology, which is applied in the field of traffic image processing and traffic information, can solve problems such as failure and separation, and achieve the effect of short calculation time, low calculation load, and real-time background filtering

Active Publication Date: 2021-07-27
苏州思卡信息系统有限公司
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  • Summary
  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In addition, any large changes in the background outside the range of the road will cause the failure of the existing method
The difficulty in solving moving background filtering is that it is difficult to distinguish it from the detected object

Method used

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  • Bessel modeling-based roadside radar real-time background filtering method
  • Bessel modeling-based roadside radar real-time background filtering method
  • Bessel modeling-based roadside radar real-time background filtering method

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Embodiment

[0041] like Figure 1 ~ Figure 3 as shown,

[0042] As one of the purposes of the present invention,

[0043] The present invention is realized like this, carries out geometric modeling to road space based on Bessel (Bézier), surrounds and closes the road space monitored by radar with geometric model, and the point cloud located in the geometric model is reserved for detection object, and The point cloud outside the geometric model is filtered out as the background. In order to achieve real-time background filtering, the following steps are included:

[0044] Step 1, the 3D lidar scans the monitoring area and records multiple frames of data;

[0045] Step 2, grid the field of view;

[0046] In the spherical coordinate system (r, θ, ), set the azimuth angle in the field of view of the radar and elevation angle θ for grid division, and the grid size of azimuth and elevation angles determine the appropriate value according to the resolution of radar scanning. After grid ...

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Abstract

The invention relates to a Bessel modeling-based roadside radar real-time background filtering method, which comprises the following steps of: carrying out geometric modeling on a road space based on Bessel, surrounding and closing the road space monitored by the radar by using a geometric model, reserving point clouds in the geometric model as detection objects, and filtering point clouds outside the geometric model as backgrounds. According to the method, the excellent geometric modeling performance of Bessel is adopted to adapt to various complex road space geometric shapes; according to the invention, various changes outside the road space do not interfere with each other; and through a table look-up method, the calculation load is low, the calculation time is short, and the background can be filtered in real time.

Description

technical field [0001] The invention relates to the technical fields of traffic image processing and traffic information, in particular to a real-time background filtering method for roadside radar based on Bessel modeling. Background technique [0002] Three-dimensional lidar can perceive three-dimensional information in space around the clock, and is not affected by lighting conditions. It can be installed on the roadside to monitor road traffic, which can greatly make up for the lack of video detection technology. With the improvement of the resolution of lidar, the perception of three-dimensional spatial information of road conditions becomes more and more delicate, and the application value becomes more and more prominent. In addition to real-time tracking and supervision of motor vehicles, the management of non-motor vehicles, pedestrians and spilled objects has also become an important application field. [0003] While the resolution of 3D lidar has improved, the amo...

Claims

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Application Information

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IPC IPC(8): G01S7/48
CPCG01S7/4802
Inventor万贤福柳佳张小磊徐锦锦
Owner苏州思卡信息系统有限公司