A multi-class target detection method based on second-order fusion of millimeter-wave radar and vision
A millimeter-wave radar and visual detection technology, which is applied in radio wave measurement systems, measurement devices, radio wave reflection/re-radiation, etc., can solve problems such as multi-sensor fusion, improve safety and reduce missed detections.
Active Publication Date: 2022-08-05
BEIJING INSTITUTE OF TECHNOLOGYGY +1
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[0005] The purpose of the present invention is to provide a second-order fusion of millimeter-wave radar and vision multi-classification target detection method to solve the problem of multi-sensor fusion in the field of automatic driving existing in the prior art
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[0052] It should be noted that the embodiments in the present application and the features of the embodiments may be combined with each other in the case of no conflict. The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
[0053] It should be noted that the steps shown in the flowcharts of the accompanying drawings may be executed in a computer system, such as a set of computer-executable instructions, and, although a logical sequence is shown in the flowcharts, in some cases, Steps shown or described may be performed in an order different from that herein.
[0054] like figure 1 As shown, this embodiment provides a multi-classification target detection method for millimeter-wave radar and visual second-order fusion, including the following steps:
[0055] Step 1. Fix the millimeter-wave radar and the camera on the car body to ensure that the relative positions of the two remain uncha...
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The invention discloses a multi-classification target detection method of millimeter-wave radar and visual second-order fusion, comprising: acquiring an internal parameter matrix of a camera and an external parameter matrix of the camera and a millimeter-wave radar based on a calibration tool; Perform analysis and filtering to obtain millimeter-wave radar detection information, and broadcast the millimeter-wave radar detection information in the first form; preset target category, detect each frame of image obtained by the camera based on the target category, obtain visual detection frame information, and The visual detection frame information is broadcast in the second form; the first broadcast and the second broadcast are monitored, and the millimeter wave radar detection information and the visual detection frame information are collected and processed when the broadcast is received, and the final target detection result is output. This method effectively solves the multi-category detection target matching problem from the perspective of post-fusion, makes the detection information of the millimeter-wave radar and the camera complement each other, reduces the missed detection as much as possible, and improves the safety of automatic driving.
Description
technical field [0001] The invention belongs to the field of automatic driving, and in particular relates to a multi-classification target detection method of millimeter wave radar and visual second-order fusion. Background technique [0002] In recent years, autonomous vehicles have been a popular research direction. At present, the direction of vehicle control is relatively mature, but there are still many difficult problems in the direction of environmental perception of intelligent vehicles. One of them is that a single sensor always has certain defects, which cannot meet the requirements of target recognition, positioning and state estimation at the same time, and is prone to missed detection or false detection. Therefore, multi-sensor fusion has become the development trend of environmental perception. [0003] Millimeter-wave radar has a long detection distance and can obtain the target's position, speed, and motion status information, and can adapt to most car operat...
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IPC IPC(8): G01S13/86G01S13/931
CPCG01S13/867G01S13/931
Inventor 魏超王鹏李路兴钱歆昊王励志
Owner BEIJING INSTITUTE OF TECHNOLOGYGY