Target detection positioning method and system for unmanned vehicle

Abstract

The invention relates to a target detection positioning method and system for an unmanned vehicle. The method comprises the following steps: obtaining a projection matrix; determining pixel coordinates and type information of a 2D bounding box of the detection target in the image; performing time synchronization and filtering on the laser radar data and the information in the previous step; projecting the filtered laser radar data into a detection image through a projection matrix, obtaining laser radar data in a 2D bounding box of a detection target in the corresponding image, and clustering the laser radar data; averaging the laser radar data in x and y directions to obtain coordinates of the detection target relative to a laser radar coordinate system; calculating relative coordinates of the detection target relative to the origin of the vehicle central coordinate system; and obtaining UTM coordinates of the vehicle, calculating coordinates of the detection target in a UTM projection coordinate system, and converting the coordinates to a WGS1984 geographic coordinate system. According to the method, the target can be detected in real time, and the longitude and latitude coordinates of the target under the WGS1984 coordinate system can be obtained.

Description

technical field [0001] The invention relates to the field of target detection, in particular to a target detection and positioning method and system for unmanned vehicles. Background technique [0002] When performing patrol and reconnaissance tasks, unmanned vehicles often need to detect specific targets and obtain the latitude and longitude coordinates of the targets in the WGS1984 coordinate system. The obtained latitude and longitude coordinates, in addition to providing location information for long-range precision guided strikes, can also be used to make battlefield situation maps, which is of great significance for unmanned operations. [0003] However, most of the current target detection and positioning methods focus on detecting the target, calculating the relative distance between the target and the vehicle itself, and cannot provide the latitude and longitude coordinates of the target to be detected in the WGS1984 coordinate system, and most methods use the real-...

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Problems solved by technology

[0003] However, most of the current target detection and positioning methods focus on detecting the target, calculating the relative distance between the target and the vehicle itself, and cannot provide the latitude and longitude coordinates of the target to be detected in the WGS1984 coordinate system, and most methods use the real-time performance of the target detection method. The accuracy rate is relatively backward. Therefore, in order to realize the real-time detection of targets and obtain the longitude and latitude coordinates of targets in the WGS1984 coordinate system during the execution of battlefield patrol tasks and reconnaissance tasks by unmanned vehicles, the present invention proposes an unmanned vehicle-oriented Object Detection and Localization Methods

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