Radar and vision fused vehicle identification method and device, equipment and medium
A technology of vehicle identification and vehicle classification, which is applied in the field of vehicle identification where radar and vision are integrated, can solve problems such as the inability to determine whether an obstacle is a vehicle, potential safety hazards, vehicle detection interference, etc., and achieve the effect of improving the vehicle detection effect
Active Publication Date: 2021-12-17
ZHEJIANG UNIVIEW TECH CO LTD
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[0003] However, based on information such as distance, speed, and angle, millimeter-wave radar cannot determine whether an obstacle is a vehicle, which greatly interferes with vehicle detection. Therefore, in areas such as autonomous driving, millimeter-wave radar will filter all stationary objects. great safety hazard
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[0030] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention. In addition, it should be noted that, for the convenience of description, only some structures related to the present invention are shown in the drawings but not all structures.
[0031] Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe operations (or steps) as sequential processing, many of the operations (or steps) may be performed in parallel, concurrently, or simultaneously. In addition, the order of operations can be rearranged. The process may be terminated when its operations are complete, but may also have additional steps n...
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The embodiment of the invention discloses a radar and vision fused vehicle identification method and device, equipment and a medium. The method comprises the steps of performing vehicle category and position detection according to target visual image feature information extracted from a target vehicle visual image to obtain target vehicle detection prediction probability information, and converting target vehicle radar information into target vehicle position prediction probability information under a target vehicle visual image coordinate system, and fusing the target vehicle detection prediction probability information and the target vehicle position prediction probability information to perform vehicle identification. According to the method, the prediction probability of the millimeter wave radar information and the prediction probability of the visual image are fused, the characteristic that the millimeter wave radar is sensitive to the moving vehicle and the camera can more fully capture the characteristics of the object which can be distinguished sufficiently are utilized, the vehicle detection effect is improved, excessive dependence on use of certain data is avoided as much as possible, Vehicle detection can be carried out by using information acquired by the millimeter wave radar and the camera in a balanced manner.
Description
technical field [0001] Embodiments of the present invention relate to the technical field of computer vision, and in particular to a vehicle recognition method, device, equipment and medium for radar and vision fusion. Background technique [0002] With the continuous development of technology, more and more attention has been paid to intelligent assisted driving of vehicles. For example, millimeter-wave radar has stable detection performance, long operating distance, strong ability to penetrate fog, smoke, and dust, and has all-weather and all-weather capabilities. Features, and the advantages of not being affected by harsh environments such as weather and light, are becoming important auxiliary sensing devices besides visual sensing in the fields of automatic driving and other fields, and are becoming more and more popular in the market. [0003] However, based on information such as distance, speed, and angle, millimeter-wave radar cannot determine whether an obstacle is ...
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IPC IPC(8): G06K9/62G06K9/00G01S13/86
CPCG01S13/867G06F18/254
Inventor 周迪曹广陈力恒王勋张帅陈卫刚刘东升徐爱华
Owner ZHEJIANG UNIVIEW TECH CO LTD