Real-time Background Filtering Method for Roadside Radar Based on Polygonal Modeling

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

Active Publication Date: 2022-03-22
苏州思卡信息系统有限公司
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  • Abstract
  • Description
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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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  • Real-time Background Filtering Method for Roadside Radar Based on Polygonal Modeling
  • Real-time Background Filtering Method for Roadside Radar Based on Polygonal Modeling
  • Real-time Background Filtering Method for Roadside Radar Based on Polygonal 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 real-time background filtering method for roadside radar based on polygonal modeling. The road space is geometrically modeled based on the polygon, and the road space monitored by the radar is surrounded and closed by the geometric model. The point cloud located in the geometric model It is reserved for the detection object, while the point cloud outside the geometric model is filtered out as the background. The invention adopts the excellent geometric modeling performance of polygons to adapt to various complex road space geometric shapes; the application of the invention can make various changes outside the road space not form interference; through the look-up table method, the calculation load is low and the calculation time is short , which can filter out the background 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 Patents(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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