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Multi-sensor fusion target tracking method

A multi-sensor fusion and target tracking technology, applied in the field of autonomous driving, can solve the problem of inaccurate target detection, and achieve the effect of efficient target tracking and accurate recognition

Pending Publication Date: 2022-03-01
武汉理工大学重庆研究院
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Problems solved by technology

[0003] In view of this, it is necessary to provide a multi-sensor fusion target tracking method to overcome the problem of inaccurate target detection in the prior art

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Embodiment Construction

[0052] Preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the application and together with the embodiments of the present invention are used to explain the principle of the present invention and are not intended to limit the scope of the present invention.

[0053] In the description of the present invention, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In addition, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0054] In the description of the present invention, reference to "an embodiment" means that ...

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Abstract

The invention relates to a multi-sensor fusion target tracking method. The method comprises the following steps: acquiring radar sensing data and image sensing data of a vehicle; determining three-dimensional point cloud data corresponding to each first target identified by the radar according to the radar sensing data; determining two-dimensional image information corresponding to each second target recognized by a camera according to the image sensing data; projecting the three-dimensional point cloud data to the two-dimensional image information according to a transformation matrix for jointly calibrating a radar and a camera to form target fusion data; and performing target tracking according to the target fusion data. The advantages of a pure vision scheme and a pure radar scheme are combined, and the accuracy of behavior decision making, path planning and obstacle avoidance of the automobile is guaranteed.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a multi-sensor fusion target tracking method. Background technique [0002] With the rapid development of artificial intelligence and automobile informatization, unmanned driving technology has become an important technology to improve traffic efficiency, solve urban traffic jams and reduce traffic accidents. It is the foundation of unmanned driving technology and the key to ensure the safe driving of cars. It can help the vehicle obtain the surrounding environment information in real time, and provide assistance for the next control decision, obstacle avoidance and path planning of the vehicle. Traditional cars that rely on pure vision or pure radar solutions have some problems. Although the pure vision solution can obtain the precise category, texture and other characteristics of the object, it cannot obtain the three-dimensional coordinates, geometric shape and othe...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/246G06T7/277G06T7/292G06T7/62G06V10/44G06V10/75G06V10/80
CPCG06T7/246G06T7/277G06T7/292G06T7/62G06F18/22G06F18/253
Inventor 罗杰张畅宋连
Owner 武汉理工大学重庆研究院
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