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Method for filtering background of roadside radar in real time based on polygon modeling

A polygon and radar technology, applied in the field of traffic image processing and traffic information, can solve the problems of differentiation and failure, and achieve the effect of low calculation load, short calculation time, 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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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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  • Method for filtering background of roadside radar in real time based on polygon modeling
  • Method for filtering background of roadside radar in real time based on polygon modeling
  • Method for filtering background of roadside radar in real time based on polygon modeling

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Embodiment

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

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

[0043] The present invention is realized in this way. The road space is geometrically modeled based on polygons, and the road space monitored by radar is surrounded and closed with the geometric model. The point cloud located in the geometric model is reserved for the detection object, while the points outside the geometric model Clouds are filtered out as 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...

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Abstract

The invention relates to a method for filtering the background of a roadside radar in real time based on polygon modeling, which comprises the following steps of: carrying out geometric modeling on a road space based on a polygon, 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 the polygon is adopted to adapt to various complex road space geometric bodies; 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 polygonal 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 ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
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
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