Target detection method, system and equipment based on long and short focus image synthesis and medium

Abstract

The invention discloses a target detection method, system and device based on long and short focus image synthesis and a medium, and relates to the technical field of graph fusion, and the method comprises the steps: carrying out the image transparency adjustment of a long focus image, carrying out the superposition of the long focus image and a short focus image after the transparency adjustment, and obtaining an image after the view field alignment; longitude and latitude joint calibration is carried out on the long-focus image and the short-focus image, and a bird's-eye view corresponding to the image after view field alignment is determined; performing image acquisition on the to-be-acquired area through the millimeter wave radar to obtain a radar image, performing latitude and longitude joint calibration on the radar image and the aerial view, and determining a calibration conversion relation; and fusing the target long-focus image, the target short-focus image and the target radar image collected in the to-be-collected area through the homography matrix and the calibration conversion relation. According to the invention, lane joint calibration is carried out on the synthetic image and the radar, a multi-sensor data fusion basis is established, and the fusion efficiency and the fusion accuracy are improved.

Description

Background Art

[0002] Prior art 1: image synthesis method, device and storage medium. The method includes: obtaining first lane line information and second lane line information collected by respectively shooting multiple lane lines with a telephoto camera and a short-focus camera; using the first lane line information to determine the first vanishing point of multiple lane lines on the image collected by the telephoto camera and the second lane line information to determine the second vanishing point of multiple lane lines on the image collected by the short-focus camera; using the first vanishing point and the second vanishing point to calculate the homography matrix corresponding to the image coordinates of the telephoto camera and the image coordinates of the short-focus camera, so that the coordinate mapping relationship between the telephoto camera and the short-focus camera can be calibrated using the collected lane line information, and then the fusion of the long-focus and short-focus images, target relay tracking and information compensation can be realized, and then the homography matrix can be used to convert the images collected by the telephoto camera and the short-focus camera into a bird's-eye view, so that the targets in the long-focus and short-focus cameras can be located in the physical world.

[0003] Prior art 2: A target detection method is applied to a central control unit of a vehicle, wherein the vehicle includes a telephoto camera, a short-focus camera and a radar, and the method includes: obtaining a telephoto image of the telephoto camera, a short-focus image of the short-focus camera, and point cloud data of the radar; performing fusion ranging according to the telephoto image, the short-focus image, the point cloud data and a preset fusion ranging algorithm to determine telephoto target detection information of the telephoto image and short-focus target detection information of the short-focus image; rigidly transforming and projecting the telephoto target detection information into the short-focus image according to the telephoto target detection information, the short-focus target detection information and pre-calibrated parameters corresponding to the telephoto camera and the short-focus camera to obtain transformed telephoto target detection information; performing non-maximum suppression according to the short-focus target detection information and the transformed telephoto target detection information to determine final target detection information.

[0004] In the existing technical solution 1, the actual lane lines are not standard straight lines, but will bend and deflect according to the road terrain, especially the curves are smooth curves without sharp corners. This technical method is out of practical application and cannot be effectively implemented.

[0005] The second existing technical solution does not describe in detail the acquisition of calibration parameters, and it is presumed to be the commonly used road closure RTK dot marking. This method has a high implementation cost and requires the closure of the road and the coordination of multiple people on site to complete the calibration work, which is time-consuming and laborious. Summary of the invention

[0006] The technical problem to be solved by the present invention is to address the deficiencies of the prior art, and specifically provide a target detection method, system, device and medium based on long- and short-focus image synthesis, as follows:

[0007] 1) In the first aspect, the present invention provides a target detection method based on long-short focal length image synthesis, and the specific technical scheme is as follows:

[0008] Capturing images of the area to be captured by a telephoto camera and a short-focus camera to obtain a telephoto image and a short-focus image, adjusting the transparency of the telephoto image, and superimposing the telephoto image with the adjusted transparency with the short-focus image to obtain an image with aligned fields of view;

[0009] According to the image after the field of view is aligned, the longitude and latitude of the long focus image and the short focus image are jointly calibrated to determine a homography matrix, and according to the homography matrix, a bird's-eye view corresponding to the image after the field of view is aligned is determined;

[0010] The millimeter wave radar is used to collect images of the area to be collected to obtain a radar image, and the longitude and latitude of the radar image and the bird's-eye view are jointly calibrated to determine a calibration conversion relationship;

[0011] Through the homography matrix and the calibration conversion relationship, the target long-focus image, the target short-focus image and the target radar image collected in the area to be collected are fused within a preset time period.

[0012] The beneficial effects of a target detection method based on long- and short-focus image synthesis provided by the present invention are as follows:

[0013] By superimposing the long and short focal length images, the overlapping fields of view are aligned, and the perspective of the synthesized image is transformed to obtain a complete bird's-eye view. The synthesized image and radar are jointly calibrated for lanes to establish a multi-sensor data fusion foundation, improve fusion efficiency and fusion accuracy. This method enables machine vision-based target detection to reach a higher standard in the application scenarios of the transportation industry.

[0014] Based on the above solution, the present invention can also be improved as follows.

[0015] Furthermore, the process of superimposing the long-focus image after adjusting transparency with the short-focus image to obtain the image after the field of view is specifically as follows:

[0016] During the superposition process, the short-focus image is used as a base image, and the long-focus image after adjusting the transparency is superimposed on the base image to obtain an image after the field of view is aligned.

[0017] Further, according to the image after the field of view is aligned, the longitude and latitude of the long focus image and the short focus image are jointly calibrated, and the process of determining the homography matrix is ​​specifically as follows:

[0018] A first pixel conversion matrix between the long-focus image and the short-focus image is determined according to the image after the field of view is aligned, and the first pixel conversion matrix is ​​determined as the homography matrix.

[0019] Furthermore, the radar image and the bird's-eye view are jointly calibrated in latitude and longitude, and the process of determining the calibration conversion relationship is specifically as follows:

[0020] The radar image and the bird's-eye view are jointly calibrated in terms of longitude and latitude, a second pixel conversion matrix between the radar image and the bird's-eye view is determined, and the second pixel conversion matrix is ​​determined as a calibration conversion relationship.

[0021] 2) In the second aspect, the present invention also provides a target detection system based on long-short focal length image synthesis, and the specific technical solution is as follows:

[0022] The adjustment module is used to: collect images of the area to be collected by using a telephoto camera and a short-focus camera to obtain a telephoto image and a short-focus image, adjust the image transparency of the telephoto image, and superimpose the telephoto image with adjusted transparency with the short-focus image to obtain an image with aligned fields of view;

[0023] The first calibration module is used to: perform longitude and latitude joint calibration on the long-focus image and the short-focus image according to the image after the field of view is aligned, determine a homography matrix, and determine a bird's-eye view corresponding to the image after the field of view is aligned according to the homography matrix;

[0024] The second calibration module is used to: collect images of the area to be collected by using a millimeter wave radar to obtain a radar image, perform longitude and latitude joint calibration on the radar image and the bird's-eye view, and determine a calibration conversion relationship;

[0025] The fusion module is used to fuse the target long-focus image, the target short-focus image and the target radar image collected in the area to be collected within a preset time period through the homography matrix and the calibration transformation relationship.

[0026] Based on the above solution, the present invention can also be improved as follows.

[0027] Furthermore, the process of superimposing the long-focus image after adjusting transparency with the short-focus image to obtain the image after the field of view is specifically as follows:

[0028] During the superposition process, the short-focus image is used as a base image, and the long-focus image after adjusting the transparency is superimposed on the base image to obtain an image after the field of view is aligned.

[0029] Further, according to the image after the field of view is aligned, the longitude and latitude of the long focus image and the short focus image are jointly calibrated, and the process of determining the homography matrix is ​​specifically as follows:

[0030] A first pixel conversion matrix between the long-focus image and the short-focus image is determined according to the image after the field of view is aligned, and the first pixel conversion matrix is ​​determined as the homography matrix.

[0031] Furthermore, the radar image and the bird's-eye view are jointly calibrated in latitude and longitude, and the process of determining the calibration conversion relationship is specifically as follows:

[0032] The radar image and the bird's-eye view are jointly calibrated in terms of longitude and latitude, a second pixel conversion matrix between the radar image and the bird's-eye view is determined, and the second pixel conversion matrix is ​​determined as a calibration conversion relationship.

[0033] 3) In a third aspect, the present invention further provides an electronic device, comprising a processor, wherein the processor is coupled to a memory, wherein at least one computer program is stored in the memory, and the at least one computer program is loaded and executed by the processor so that the electronic device implements any of the above methods.

[0034] 4) In a fourth aspect, the present invention further provides a computer-readable storage medium, wherein at least one computer program is stored in the computer-readable storage medium, and the at least one computer program is loaded and executed by a processor so that a computer implements any of the above methods.

[0035] It should be noted that the beneficial effects achieved by the technical solutions of the second to fourth aspects of the present invention and the corresponding possible implementation methods can be found in the above-mentioned technical effects of the first aspect and its corresponding possible implementation methods, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0037] Figure 1 A schematic flow chart of a target detection method based on long- and short-focus image synthesis according to an embodiment of the present invention;

[0038] Figure 2 The present invention is a structural framework diagram of an electronic device. DETAILED DESCRIPTION

[0039] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0040] like Figure 1 As shown, a target detection method based on long-short focal length image synthesis according to an embodiment of the present invention comprises the following steps:

[0041] S1, capturing images of a target area through a telephoto camera and a short-focus camera to obtain a telephoto image and a short-focus image, adjusting the transparency of the telephoto image, and superimposing the telephoto image with adjusted transparency with the short-focus image to obtain an image with aligned fields of view;

[0042] S2, performing longitude and latitude joint calibration on the long-focus image and the short-focus image according to the image after the field of view is aligned, determining a homography matrix, and determining a bird's-eye view corresponding to the image after the field of view is aligned according to the homography matrix;

[0043] S3, collecting images of the area to be collected by using a millimeter wave radar to obtain a radar image, and jointly calibrating the longitude and latitude of the radar image and the bird's-eye view to determine a calibration conversion relationship;

[0044] S4, fusing the target long-focus image, the target short-focus image and the target radar image collected in the area to be collected within a preset time period through the homography matrix and the calibration transformation relationship.

[0045] The beneficial effects of a target detection method based on long- and short-focus image synthesis provided by the present invention are as follows:

[0046] By superimposing the long and short focal length images, the overlapping fields of view are aligned, and the perspective of the synthesized image is transformed to obtain a complete bird's-eye view. The synthesized image and radar are jointly calibrated for lanes to establish a multi-sensor data fusion foundation. This method enables machine vision-based target detection to reach a higher standard in the application scenarios of the transportation industry.

[0047] S1, using a telephoto camera and a short-focus camera to capture images of a target area, obtaining a telephoto image and a short-focus image, adjusting the transparency of the telephoto image, and superimposing the telephoto image with adjusted transparency with the short-focus image to obtain an image with aligned fields of view. Wherein:

[0048] A short-focus camera refers to a lens with a focal length of less than 50mm, which is used to shoot close-up or wide-angle scenes and is suitable for environmental photography and travel records.

[0049] A telephoto camera refers to a lens with a focal length greater than 50mm, which is used to shoot long-distance or detailed scenes. It is suitable for portraits, sports and other shooting that requires a long distance.

[0050] The focal length of a camera determines its shooting distance. The minimum focusing distance of a short-focus camera lens is closer than that of a long-focus camera lens, so it is suitable for close-up shooting, while the long-focus camera lens is suitable for long-distance shooting. For example, if you want to take a portrait of a person, you need to get close to the subject, which can be done in a room, with a short-focus camera lens; while you can use a long-focus camera lens to shoot at a longer distance.

[0051] The area to be collected refers to: the road where the vehicle is traveling or the traffic intersection.

[0052] The image transparency adjustment for the telephoto image can be performed as follows:

[0053] The first method is to directly adjust the transparency of the telephoto image to a preset value, such as 50%.

[0054] The second method is to determine the basic transparency corresponding to the telephoto image, adjust the transparency of the telephoto image to the basic transparency based on the basic transparency, and superimpose the adjusted telephoto image with the short-focus image to generate a first image, manually annotate the first image, generate a feature identifier, and then process the first image through a preset feature recognition model to obtain a processing result, compare the similarity and overlap between the manually annotated feature identifier and the processing result, and when both the similarity and overlap meet the preset requirements, it means that there is no need to adjust the basic transparency. If the similarity meets the preset requirements but the overlap does not meet the requirements, it means that the boundary of the telephoto image is unclear, so it proves that the basic transparency is too low and the value of the basic transparency needs to be fine-tuned upward. If the overlap meets the preset requirements but the similarity does not meet the preset requirements, it proves that some features are blurred or transparent due to excessive transparency and cannot be extracted. At this time, the value of the basic transparency needs to be fine-tuned downward. The fine-tuned basic transparency is used as the above-mentioned basic transparency to repeatedly generate the first image, and it is determined whether the fine-tuned basic transparency needs to be fine-tuned until both the similarity and overlap meet the preset requirements.

[0055] The process of determining basic transparency can be:

[0056] The first one determines the basic transparency based on the experience of professionals;

[0057] The second method is to extract the long-focus brightness and short-focus brightness corresponding to the long-focus image and the short-focus image, and determine the basic transparency corresponding to the long-focus brightness and the short-focus brightness based on a preset model;

[0058] The third method is to extract the long-focus brightness and short-focus brightness corresponding to the long-focus image and the short-focus image, determine the historical basic transparency corresponding to the long-focus brightness and the short-focus brightness in the historical database, and determine the historical basic transparency as the basic transparency;

[0059] The fourth method, step 1, extracting the long-focus brightness and short-focus brightness corresponding to the long-focus image and the short-focus image;

[0060] Step 2, determining the historical basic transparency corresponding to the long-focus brightness and the short-focus brightness in the historical database;

[0061] Step 3: if there is no historical basic transparency corresponding to the long-focus brightness and the short-focus brightness in the historical database, determine whether there is historical data corresponding to either the long-focus brightness or the short-focus brightness;

[0062] Step 4: if there is, determine the two historical brightness values ​​that are closest to the brightness value of the historical data that does not have a corresponding value, determine two historical basic transparency values ​​based on the two historical brightness values, determine the range of basic transparency based on the two historical basic transparency values, and randomly select a data within the range of basic transparency as the basic transparency;

[0063] If not, determine the two historical brightnesses that are closest to the long-focus brightness and the short-focus brightness respectively, and obtain four groups of long-focus brightness and short-focus brightness by matching the two historical long-focus brightnesses with the two historical short-focus brightnesses respectively. Take any group of long-focus brightness and short-focus brightness as the long-focus brightness and the short-focus brightness in step 2, and repeat steps 2 to 4 until the basic transparency is determined.

[0064] S2, according to the image after the field of view is aligned, the longitude and latitude of the long focus image and the short focus image are jointly calibrated to determine a homography matrix, and according to the homography matrix, a bird's-eye view corresponding to the image after the field of view is aligned is determined. Wherein:

[0065] The homography matrix is ​​used to convert the coordinate system corresponding to the long-focus image into the coordinate system corresponding to the short-focus image, that is, to determine the angle and displacement during the image conversion process through the same target.

[0066] S3, collecting images of the area to be collected by using a millimeter wave radar to obtain a radar image, and jointly calibrating the longitude and latitude of the radar image and the bird's-eye view to determine a calibration conversion relationship;

[0067] S4, fusing the target long-focus image, the target short-focus image and the target radar image collected in the area to be collected within a preset time period through the homography matrix and the calibration transformation relationship.

[0068] Furthermore, the process of superimposing the long-focus image after adjusting transparency with the short-focus image to obtain the image after the field of view is specifically as follows:

[0069] During the superposition process, the short-focus image is used as a base image, and the long-focus image after adjusting the transparency is superimposed on the base image to obtain an image after the field of view is aligned.

[0070] Further, according to the image after the field of view is aligned, the longitude and latitude of the long focus image and the short focus image are jointly calibrated, and the process of determining the homography matrix is ​​specifically as follows:

[0071] A first pixel conversion matrix between the long-focus image and the short-focus image is determined according to the image after the field of view is aligned, and the first pixel conversion matrix is ​​determined as the homography matrix.

[0072] Furthermore, the radar image and the bird's-eye view are jointly calibrated in latitude and longitude, and the process of determining the calibration conversion relationship is specifically as follows:

[0073] The radar image and the bird's-eye view are jointly calibrated in terms of longitude and latitude, a second pixel conversion matrix between the radar image and the bird's-eye view is determined, and the second pixel conversion matrix is ​​determined as a calibration conversion relationship.

[0074] Embodiment 1, the field of view of the connecting part of the long-focus and short-focus images is aligned. First, the short-focus camera and the long-focus camera are aligned to connect the fields of view. By connecting and superimposing the bottom short-focus image and the upper 50% transparency long-focus image, the field of view alignment of the overlapping area can be finely adjusted.

[0075] The longitude and latitude joint calibration of the long and short focus images is performed on the basis of the first step. At this time, the two calibrations of the long and short focus images can be completed through one joint calibration to form a whole image and generate a bird's-eye view through the homography matrix.

[0076] Radar meter coordinate calibration, accurately calibrate the lane range with the assistance of a bird's-eye view.

[0077] The sensor fuses data from three ends to match the data from the short-focus camera, long-focus camera, and millimeter-wave radar. When the consistency is high, the movement process of the moving target from short focus to long focus is quickly matched and fused.

[0078] Event reporting: perform event reporting on the fused data.

[0079] In the above embodiments, although the steps are numbered S1, S2, etc., these are only specific embodiments given by the present invention. Those skilled in the art may adjust the execution order of S1, S2, etc. according to actual conditions, which is also within the protection scope of the present invention. It can be understood that in some embodiments, some or all of the above embodiments may be included.

[0080] The present invention also provides a target detection system based on long- and short-focus image synthesis, and the specific technical solution is as follows:

[0081] The adjustment module is used to: collect images of the area to be collected by using a telephoto camera and a short-focus camera to obtain a telephoto image and a short-focus image, adjust the image transparency of the telephoto image, and superimpose the telephoto image with adjusted transparency with the short-focus image to obtain an image with aligned fields of view;

[0082] The first calibration module is used to: perform longitude and latitude joint calibration on the long-focus image and the short-focus image according to the image after the field of view is aligned, determine a homography matrix, and determine a bird's-eye view corresponding to the image after the field of view is aligned according to the homography matrix;

[0083] The second calibration module is used to: collect images of the area to be collected by using a millimeter wave radar to obtain a radar image, perform longitude and latitude joint calibration on the radar image and the bird's-eye view, and determine a calibration conversion relationship;

[0084] The fusion module is used to fuse the target long-focus image, the target short-focus image and the target radar image collected in the area to be collected within a preset time period through the homography matrix and the calibration transformation relationship.

[0085] Furthermore, the process of superimposing the long-focus image after adjusting transparency with the short-focus image to obtain the image after the field of view is specifically as follows:

[0086] During the superposition process, the short-focus image is used as a base image, and the long-focus image after adjusting the transparency is superimposed on the base image to obtain an image after the field of view is aligned.

[0087] Further, according to the image after the field of view is aligned, the longitude and latitude of the long focus image and the short focus image are jointly calibrated, and the process of determining the homography matrix is ​​specifically as follows:

[0088] A first pixel conversion matrix between the long-focus image and the short-focus image is determined according to the image after the field of view is aligned, and the first pixel conversion matrix is ​​determined as the homography matrix.

[0089] Furthermore, the radar image and the bird's-eye view are jointly calibrated in latitude and longitude, and the process of determining the calibration conversion relationship is specifically as follows:

[0090] The radar image and the bird's-eye view are jointly calibrated in terms of longitude and latitude, a second pixel conversion matrix between the radar image and the bird's-eye view is determined, and the second pixel conversion matrix is ​​determined as a calibration conversion relationship.

[0091] It should be noted that the beneficial effects of the target detection system based on long-short focal length image synthesis provided by the above embodiment are the same as the beneficial effects of the target detection method based on long-short focal length image synthesis, which will not be described in detail here. In addition, when the system provided by the above embodiment realizes its functions, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the system can be divided into different functional modules according to actual conditions to complete all or part of the functions described above. In addition, the system and method embodiments provided by the above embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be described in detail here.

[0092] like Figure 2 As shown, an electronic device 300 according to an embodiment of the present invention includes a processor 320, the processor 320 is coupled to a memory 310, and the memory 310 stores at least one computer program 330, and the at least one computer program 330 is loaded and executed by the processor 320, so that the electronic device 300 implements any of the above methods, specifically:

[0093] The electronic device 300 may have relatively large differences due to different configurations or performances, and may include one or more processors 320 (Central Processing Units, CPU) and one or more memories 310, wherein the one or more memories 310 store at least one computer program 330, and the at least one computer program 330 is loaded and executed by the one or more processors 320, so that the electronic device 300 implements a target detection method based on long-short focal image synthesis provided by the above embodiment. Of course, the electronic device 300 may also have components such as a wired or wireless network interface, a keyboard, and an input and output interface for input and output, and the electronic device 300 may also include other components for realizing device functions, which will not be described in detail here.

[0094] A computer-readable storage medium according to an embodiment of the present invention stores at least one computer program, and the at least one computer program is loaded and executed by a processor so that a computer implements any one of the above methods.

[0095] Optionally, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0096] In an exemplary embodiment, a computer program product or a computer program is also provided, the computer program product or the computer program comprising computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device performs any of the above methods.

[0097] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects and represent the definition of a specific order or sequence. The order of use of similar objects can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than the order shown or described.

[0098] Those skilled in the art know that the present invention can be implemented as a system, method or computer program product. Therefore, the present disclosure can be specifically implemented in the following forms, namely: it can be complete hardware, it can be complete software (including firmware, resident software, microcode, etc.), or it can be a combination of hardware and software, which is generally referred to as "circuit", "module" or "system" herein. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable medium contains computer-readable program code.

[0099] Any combination of one or more computer-readable media may be used. A computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, device, or device.

[0100] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A target detection method based on long-short focus image synthesis, characterized in that: include: Capturing images of the area to be captured by a telephoto camera and a short-focus camera to obtain a telephoto image and a short-focus image, adjusting the transparency of the telephoto image, and superimposing the telephoto image with the adjusted transparency with the short-focus image to obtain an image with aligned fields of view; According to the image after the field of view is aligned, the longitude and latitude of the long focus image and the short focus image are jointly calibrated to determine a homography matrix, and according to the homography matrix, a bird's-eye view corresponding to the image after the field of view is aligned is determined; The millimeter wave radar is used to collect images of the area to be collected to obtain a radar image, and the longitude and latitude of the radar image and the bird's-eye view are jointly calibrated to determine a calibration conversion relationship; Through the homography matrix and the calibration conversion relationship, the target long-focus image, the target short-focus image and the target radar image collected in the area to be collected are fused within a preset time period.

2. The target detection method based on long-short focal length image synthesis according to claim 1, characterized in that: The process of superimposing the long-focus image after adjusting transparency with the short-focus image to obtain the image after the field of view is specifically as follows: During the superposition process, the short-focus image is used as a base image, and the long-focus image after adjusting the transparency is superimposed on the base image to obtain an image after the field of view is aligned.

3. The target detection method based on long-short focal length image synthesis according to claim 1, characterized in that: According to the image after the field of view is aligned, the longitude and latitude of the long focus image and the short focus image are jointly calibrated to determine the homography matrix as follows: A first pixel conversion matrix between the long-focus image and the short-focus image is determined according to the image after the field of view is aligned, and the first pixel conversion matrix is ​​determined as the homography matrix.

4. The target detection method based on long-short focal length image synthesis according to claim 1, characterized in that: The process of jointly calibrating the longitude and latitude of the radar image and the bird's-eye view and determining the calibration conversion relationship is specifically as follows: The radar image and the bird's-eye view are jointly calibrated in terms of longitude and latitude, a second pixel conversion matrix between the radar image and the bird's-eye view is determined, and the second pixel conversion matrix is ​​determined as a calibration conversion relationship.

5. A target detection system based on long-short focal length image synthesis, characterized in that: include: The adjustment module is used to: collect images of the area to be collected by using a telephoto camera and a short-focus camera to obtain a telephoto image and a short-focus image, adjust the image transparency of the telephoto image, and superimpose the telephoto image with adjusted transparency with the short-focus image to obtain an image with aligned fields of view; The first calibration module is used to: perform longitude and latitude joint calibration on the long-focus image and the short-focus image according to the image after the field of view is aligned, determine a homography matrix, and determine a bird's-eye view corresponding to the image after the field of view is aligned according to the homography matrix; The second calibration module is used to: collect images of the area to be collected by using a millimeter wave radar to obtain a radar image, perform longitude and latitude joint calibration on the radar image and the bird's-eye view, and determine a calibration conversion relationship; The fusion module is used to fuse the target long-focus image, the target short-focus image and the target radar image collected in the area to be collected within a preset time period through the homography matrix and the calibration transformation relationship.

6. The target detection system based on long-short focal length image synthesis according to claim 5, characterized in that: The process of superimposing the long-focus image after adjusting transparency with the short-focus image to obtain the image after the field of view is specifically as follows: During the superposition process, the short-focus image is used as a base image, and the long-focus image after adjusting the transparency is superimposed on the base image to obtain an image after the field of view is aligned.

7. The target detection system based on long-short focal length image synthesis according to claim 5, characterized in that: According to the image after the field of view is aligned, the longitude and latitude of the long focus image and the short focus image are jointly calibrated to determine the homography matrix as follows: A first pixel conversion matrix between the long-focus image and the short-focus image is determined according to the image after the field of view is aligned, and the first pixel conversion matrix is ​​determined as the homography matrix.

8. The target detection system based on long-short focal length image synthesis according to claim 5, characterized in that: The process of jointly calibrating the longitude and latitude of the radar image and the bird's-eye view and determining the calibration conversion relationship is specifically as follows: The radar image and the bird's-eye view are jointly calibrated in terms of longitude and latitude, a second pixel conversion matrix between the radar image and the bird's-eye view is determined, and the second pixel conversion matrix is ​​determined as a calibration conversion relationship.

9. An electronic device, characterized in that: The electronic device comprises a processor, the processor is coupled to a memory, at least one computer program is stored in the memory, and the at least one computer program is loaded and executed by the processor so that the electronic device implements the method according to any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one computer program, and the at least one computer program is loaded and executed by a processor so that a computer implements the method according to any one of claims 1 to 4.

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