Target detection method, system and device based on long-short focal image synthesis and medium

Abstract

This invention discloses a target detection method, system, device, and medium based on long-focus and short-focus image synthesis, belonging to the field of image fusion technology. The method includes: adjusting the image transparency of a long-focus image and superimposing the long-focus image with a short-focus image to obtain a field-of-view aligned image; performing joint latitude and longitude calibration on the long-focus and short-focus images to determine the corresponding bird's-eye view of the field-of-view aligned image; acquiring images of the area to be acquired using millimeter-wave radar to obtain radar images, performing joint latitude and longitude calibration on the radar images and the bird's-eye view to determine the calibration transformation relationship; and fusing the target long-focus image, target short-focus image, and target radar image acquired in the area to be acquired using homography matrix and calibration transformation relationship. This invention performs lane joint calibration on the synthesized image and radar, establishing a foundation for multi-sensor data fusion and improving fusion efficiency and accuracy.

Description

Technical Field

[0001] This invention relates to the field of image fusion technology, and in particular to target detection methods, systems, devices and media based on long and short focal length image synthesis. Background Technology

[0002] Existing technology 1: Image synthesis method, device, and storage medium. The method includes: acquiring first lane line information and second lane line information collected by a telephoto camera and a short-focus camera respectively capturing multiple lane lines; using the first lane line information to determine the first hidden point of the multiple lane lines in the image captured by the telephoto camera and the second lane line information to determine the second hidden point of the multiple lane lines in the image captured by the short-focus camera; using the first and second hidden points to calculate the homography matrix corresponding to the image coordinates of the telephoto camera and the short-focus camera, thereby enabling the calibration of the coordinate mapping relationship between the telephoto camera and the short-focus camera using the acquired lane line information, thus achieving the fusion of telephoto and short-focus images, target relay tracking, and information compensation. Furthermore, the homography matrix can be used to convert the images captured by the telephoto camera and the short-focus camera into a bird's-eye view, thereby enabling the location of targets in the telephoto and short-focus cameras in the physical world.

[0003] Prior Art 2: A target detection method applied to a vehicle's central control unit, the vehicle including a telephoto camera, a short-focus camera, and radar, the method comprising: acquiring a telephoto image from the telephoto camera, a short-focus image from the short-focus camera, and point cloud data from the radar; performing fusion ranging based on the telephoto image, the short-focus image, the point cloud data, and a preset fusion ranging algorithm to determine telephoto target detection information from the telephoto image and short-focus target detection information from the short-focus image; rigidly transforming and projecting the telephoto target detection information onto the short-focus image based on 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; and performing non-maximum suppression based on the short-focus target detection information and the transformed telephoto target detection information to determine the final target detection information.

[0004] The existing technical solution one addresses the fact that actual lane markings are not standard straight lines; they vary according to road terrain undulations and deviations, with curves being smooth arcs rather than sharp bends. This technical method is impractical and cannot be effectively implemented.

[0005] The existing technical solution two does not provide a detailed description of how to obtain the calibration parameters, but it is presumably based on the commonly used road closure RTK point marking method. This method is costly to implement, requires road closure, and necessitates multiple people working together on-site to complete the calibration work, which is time-consuming and labor-intensive. Summary of the Invention

[0006] The technical problem to be solved by this invention is to address the shortcomings of existing technologies. Specifically, it provides a target detection method, system, device, and medium based on long and short focal length image synthesis, as detailed below:

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

[0008] Images of the area to be acquired are obtained by using a telephoto camera and a short-focus camera. The image transparency of the telephoto image is adjusted, and the telephoto image with the adjusted transparency is superimposed with the short-focus image to obtain an image with field of view alignment.

[0009] Based on the image after field of view alignment, the telephoto image and the short-focus image are jointly calibrated in latitude and longitude to determine the homography matrix, and based on the homography matrix, the bird's-eye view corresponding to the image after field of view alignment is determined.

[0010] The area to be collected is captured by millimeter-wave radar to obtain radar images. The radar images and the bird's-eye view are then jointly calibrated in latitude and longitude to determine the calibration conversion relationship.

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

[0012] The beneficial effects of the target detection method based on long and short focal length image synthesis provided by this invention are as follows:

[0013] This method aligns the fields of view of overlapping long and short focal length images by overlaying them, and then performs a perspective transformation on the synthesized image to obtain a complete bird's-eye view. Lane joint calibration is performed on the synthesized image and radar data, establishing a foundation for multi-sensor data fusion and improving fusion efficiency and accuracy. This method enables machine vision-based target detection to reach a higher standard in transportation industry applications.

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

[0015] Furthermore, the process of superimposing the telephoto image with adjusted transparency onto the short-focus image to obtain a field-of-view aligned image is as follows:

[0016] During the overlay process, the short-focus image is used as the base image, and the telephoto image with adjusted transparency is overlaid on the base image to obtain an image with aligned field of view.

[0017] Furthermore, based on the image after field-of-view alignment, the process of jointly calibrating the latitude and longitude of the telephoto image and the short-focus image to determine the homography matrix is ​​as follows:

[0018] Based on the image after field of view alignment, a first pixel transformation matrix is ​​determined between the telephoto image and the short-focus image, and the first pixel transformation matrix is ​​determined as the homography matrix.

[0019] Furthermore, the process of jointly calibrating the radar image and the bird's-eye view using latitude and longitude to determine the calibration conversion relationship is as follows:

[0020] The radar image and the bird's-eye view are jointly calibrated using latitude and longitude to determine the second pixel transformation matrix between the radar image and the bird's-eye view, and the second pixel transformation matrix is ​​determined as the calibration transformation relationship.

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

[0022] The adjustment module is used to: acquire images of the area to be acquired 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 overlay the telephoto image with the adjusted transparency with the short-focus image to obtain an image with field of view alignment;

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

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

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

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

[0027] Furthermore, the process of superimposing the telephoto image with adjusted transparency onto the short-focus image to obtain a field-of-view aligned image is as follows:

[0028] During the overlay process, the short-focus image is used as the base image, and the telephoto image with adjusted transparency is overlaid on the base image to obtain an image with aligned field of view.

[0029] Furthermore, based on the image after field-of-view alignment, the process of jointly calibrating the latitude and longitude of the telephoto image and the short-focus image to determine the homography matrix is ​​as follows:

[0030] Based on the image after field of view alignment, a first pixel transformation matrix is ​​determined between the telephoto image and the short-focus image, and the first pixel transformation matrix is ​​determined as the homography matrix.

[0031] Furthermore, the process of jointly calibrating the radar image and the bird's-eye view using latitude and longitude to determine the calibration conversion relationship is as follows:

[0032] The radar image and the bird's-eye view are jointly calibrated using latitude and longitude to determine the second pixel transformation matrix between the radar image and the bird's-eye view, and the second pixel transformation matrix is ​​determined as the calibration transformation relationship.

[0033] 3) In a third aspect, the present invention also provides an electronic device, the electronic device including a processor coupled to a memory, the memory storing at least one computer program, the at least one computer program being loaded and executed by the processor to enable the electronic device to perform any of the above methods.

[0034] 4) In a fourth aspect, the present invention also provides a computer-readable storage medium storing at least one computer program, which is loaded and executed by a processor to enable a computer to implement any of the above methods.

[0035] It should be noted that the beneficial effects of the technical solutions of the second to fourth aspects of the present invention and their corresponding possible implementations can be found in the above description of the technical effects of the first aspect and its corresponding possible implementations, and will not be repeated here. Attached Figure Description

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

[0037] Figure 1 This is a flowchart illustrating a target detection method based on long and short focal length image synthesis according to an embodiment of the present invention.

[0038] Figure 2 This is a structural framework diagram of an electronic device according to the present invention. Detailed Implementation

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

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

[0041] S1, the telephoto and short-focus cameras are used to acquire images of the area to be acquired, and the telephoto and short-focus images are obtained. The image transparency of the telephoto image is adjusted, and the telephoto image with adjusted transparency is superimposed with the short-focus image to obtain an image with field of view alignment.

[0042] S2, based on the image after field of view alignment, perform joint latitude and longitude calibration on the telephoto image and the short-focus image to determine the homography matrix, and based on the homography matrix, determine the bird's-eye view corresponding to the image after field of view alignment;

[0043] S3, image acquisition is performed on the area to be acquired using millimeter-wave radar to obtain radar images, and latitude and longitude joint calibration is performed on the radar images and the bird's-eye view to determine the calibration conversion relationship;

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

[0045] The beneficial effects of the target detection method based on long and short focal length image synthesis provided by this invention are as follows:

[0046] This method aligns the fields of view of overlapping long and short focal length images by overlaying them, and then performs a perspective transformation on the synthesized image to obtain a complete bird's-eye view. Lane joint calibration is then performed on the synthesized image and radar data, establishing a foundation for multi-sensor data fusion. This method enables machine vision-based target detection to reach a higher standard in transportation industry applications.

[0047] S1, images of the area to be acquired are obtained using a telephoto camera and a short-focus camera, resulting in a telephoto image and a short-focus image. The transparency of the telephoto image is adjusted, and the adjusted telephoto image is superimposed on the short-focus image to obtain an image with aligned field of view. Wherein:

[0048] Short-focus cameras refer to lenses with a focal length of less than 50mm, used for shooting close-up or wide-angle scenes, suitable for environmental shooting and travel documentation, etc.

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

[0050] A camera's focal length determines its shooting distance. Short-focal-length cameras have a closer minimum focusing distance than long-focal-length cameras, making them suitable for close-up shots, while long-focal-length cameras are better suited for distant shots. For example, to photograph a portrait, a short-focal-length camera requires you to get close to the subject, which can be done within a room; while a long-focal-length camera allows you to shoot from a greater distance.

[0051] The area to be collected refers to: roads or intersections where vehicles travel.

[0052] The image transparency of a telephoto image can be adjusted in the following way:

[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 involves determining the baseline transparency of the telephoto image. Based on this baseline transparency, the transparency of the telephoto image is adjusted to the baseline transparency. The adjusted telephoto image is then superimposed on the short-focus image to generate a first image. This first image is manually annotated to generate feature labels. A preset feature recognition model is then used to process the first image, obtaining the processing result. The similarity and overlap between the manually annotated feature labels and the processing result are compared. If both similarity and overlap meet preset requirements, no adjustment to the baseline transparency is needed. If the similarity meets the preset requirements but the overlap does not, the boundaries of the telephoto image are unclear, indicating that the baseline transparency is too low, and the value of the baseline transparency needs to be fine-tuned upwards. If the overlap meets the preset requirements but the similarity does not, some features are blurred or transparent due to excessive transparency, making them unextractable. In this case, the value of the baseline transparency needs to be fine-tuned downwards. The fine-tuned baseline transparency is used as the baseline transparency to repeatedly generate the first image, and it is determined whether further fine-tuning is needed until both similarity and overlap meet the preset requirements.

[0055] The process for determining the basic transparency can be as follows:

[0056] The first approach is to determine basic transparency based on the experience of professionals.

[0057] The second method involves extracting the telephoto and short-focus brightness corresponding to the telephoto and short-focus images, and determining the basic transparency corresponding to the telephoto and short-focus brightness based on a preset model.

[0058] The third method involves extracting the telephoto and short-focus brightness corresponding to the telephoto and short-focus images, determining the historical base transparency corresponding to the telephoto and short-focus brightness in the historical database, and then using the historical base transparency as the base transparency.

[0059] The fourth method, step 1, is to extract the focal length brightness and focal length brightness corresponding to the telephoto and short-focus images.

[0060] Step 2: In the historical database, determine the historical baseline transparency corresponding to the telephoto brightness and the short-focus brightness;

[0061] Step 3: If there is no historical base transparency in the historical database corresponding to the above telephoto and short-focus brightness, determine whether there is historical data corresponding to either the telephoto or short-focus brightness.

[0062] Step 4: If there is a corresponding historical data, determine the two historical brightness values ​​that are closest to the brightness values ​​of the historical data that are not available. Based on these two historical brightness values, determine two historical base transparency values. Based on these two historical base transparency values, determine the range of base transparency values. Within the range of base transparency values, randomly select a data value as the base transparency value.

[0063] If not, determine the two historical brightness values ​​that are closest to the telephoto brightness and the short-focus brightness respectively. Match the two historical telephoto brightness values ​​with the two historical short-focus brightness values ​​to obtain four sets of telephoto brightness and short-focus brightness values. Use any set of telephoto brightness and short-focus brightness values ​​as the telephoto brightness and short-focus brightness values ​​in step 2 and repeat steps 2 to 4 until the basic transparency is determined.

[0064] S2, based on the field-of-view aligned image, perform joint latitude and longitude calibration on the telephoto image and the short-focus image to determine the homography matrix, and determine the bird's-eye view corresponding to the field-of-view aligned image based on the homography matrix. Wherein:

[0065] Homography matrix is ​​used to transform the coordinate system corresponding to a telephoto image into the coordinate system corresponding to a short-focus image. In other words, it determines the angles and displacements during the image transformation process using the same target.

[0066] S3, image acquisition is performed on the area to be acquired using millimeter-wave radar to obtain radar images, and latitude and longitude joint calibration is performed on the radar images and the bird's-eye view to determine the calibration conversion relationship;

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

[0068] Furthermore, the process of superimposing the telephoto image with adjusted transparency onto the short-focus image to obtain a field-of-view aligned image is as follows:

[0069] During the overlay process, the short-focus image is used as the base image, and the telephoto image with adjusted transparency is overlaid on the base image to obtain an image with aligned field of view.

[0070] Furthermore, based on the image after field-of-view alignment, the process of jointly calibrating the latitude and longitude of the telephoto image and the short-focus image to determine the homography matrix is ​​as follows:

[0071] Based on the image after field of view alignment, a first pixel transformation matrix is ​​determined between the telephoto image and the short-focus image, and the first pixel transformation matrix is ​​determined as the homography matrix.

[0072] Furthermore, the process of jointly calibrating the radar image and the bird's-eye view using latitude and longitude to determine the calibration conversion relationship is as follows:

[0073] The radar image and the bird's-eye view are jointly calibrated using latitude and longitude to determine the second pixel transformation matrix between the radar image and the bird's-eye view, and the second pixel transformation matrix is ​​determined as the calibration transformation relationship.

[0074] Example 1: Field of view alignment of the connecting part of long and short focal length images. First, the field of view of the connecting short focal length camera and the long focal length camera is aligned. By connecting and superimposing the bottom short focal length image and the top long focal length image with 50% transparency, the field of view alignment of the overlapping area can be finely adjusted.

[0075] The long-focus and short-focus images are jointly calibrated. Based on the first step, the long-focus and short-focus images are calibrated in long and short focus. At this time, the two calibrations of long-focus and short-focus images can be completed in one joint calibration, forming a whole image and generating a bird's-eye view through the homography matrix.

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

[0077] Data fusion from three sensors is used to match data from short-focus cameras, long-focus cameras, and millimeter-wave radar. When the consistency is high, the movement of a moving target from short-focus to long-focus is quickly matched and fused.

[0078] Event reporting: Reporting events related to the merged data.

[0079] In the above embodiments, although the steps are numbered S1, S2, etc., they are only specific embodiments given by the present invention. Those skilled in the art can adjust the execution order of S1, S2, etc. according to the actual situation, 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] This invention also provides a target detection system based on long and short focal length image synthesis, the specific technical solution of which is as follows:

[0081] The adjustment module is used to: acquire images of the area to be acquired 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 overlay the telephoto image with the adjusted transparency with the short-focus image to obtain an image with field of view alignment;

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

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

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

[0085] Furthermore, the process of superimposing the telephoto image with adjusted transparency onto the short-focus image to obtain a field-of-view aligned image is as follows:

[0086] During the overlay process, the short-focus image is used as the base image, and the telephoto image with adjusted transparency is overlaid on the base image to obtain an image with aligned field of view.

[0087] Furthermore, based on the image after field-of-view alignment, the process of jointly calibrating the latitude and longitude of the telephoto image and the short-focus image to determine the homography matrix is ​​as follows:

[0088] Based on the image after field of view alignment, a first pixel transformation matrix is ​​determined between the telephoto image and the short-focus image, and the first pixel transformation matrix is ​​determined as the homography matrix.

[0089] Furthermore, the process of jointly calibrating the radar image and the bird's-eye view using latitude and longitude to determine the calibration conversion relationship is as follows:

[0090] The radar image and the bird's-eye view are jointly calibrated using latitude and longitude to determine the second pixel transformation matrix between the radar image and the bird's-eye view, and the second pixel transformation matrix is ​​determined as the calibration transformation relationship.

[0091] It should be noted that the beneficial effects of the target detection system based on long and short focal length image synthesis provided in the above embodiments are the same as those of the target detection method based on long and short focal length image synthesis described above, and will not be repeated here. Furthermore, the system provided in the above embodiments is only illustrated by the division of the above functional modules. In practical 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 the actual situation to complete all or part of the functions described above. In addition, the system and method embodiments provided in the above embodiments belong to the same concept, and their specific implementation process is detailed in the method embodiments, and will not be repeated here.

[0092] like Figure 2 As shown, an electronic device 300 according to an embodiment of the present invention includes a processor 320 coupled to a memory 310. The memory 310 stores at least one computer program 330, which is loaded and executed by the processor 320 to enable the electronic device 300 to implement any of the above-mentioned methods. Specifically:

[0093] The electronic device 300 can vary considerably due to differences in configuration or performance. It may include one or more processors 320 (Central Processing Units, CPUs) and one or more memories 310. The one or more memories 310 store at least one computer program 330, which is loaded and executed by the one or more processors 320 to enable the electronic device 300 to implement the target detection method based on long and short focal length image synthesis provided in the above embodiments. Of course, the electronic device 300 may also have wired or wireless network interfaces, a keyboard, and input / output interfaces for input and output. The electronic device 300 may also include other components for implementing device functions, which will not be elaborated here.

[0094] An embodiment of the present invention provides a computer-readable storage medium storing at least one computer program, which is loaded and executed by a processor to enable a computer to implement any of the above-described methods.

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

[0096] In an exemplary embodiment, a computer program product or computer program is also provided, which includes computer instructions stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the electronic device to perform any of the methods described above.

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

[0098] Those skilled in the art will recognize that this invention can be implemented as a system, method, or computer program product. Therefore, this disclosure can be specifically implemented in the following forms: it can be entirely hardware, entirely software (including firmware, resident software, microcode, etc.), or a combination of hardware and software, generally referred to herein as a "circuit," "module," or "system." Furthermore, in some embodiments, this invention can also be implemented as a computer program product in one or more computer-readable media containing computer-readable program code.

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

[0100] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A target detection method based on long and short focal length image synthesis, characterized in that, include: Images of the area to be acquired are obtained by using a telephoto camera and a short-focus camera. The image transparency of the telephoto image is adjusted, and the telephoto image with the adjusted transparency is superimposed with the short-focus image to obtain an image with field of view alignment. Based on the image after field of view alignment, the telephoto image and the short-focus image are jointly calibrated in latitude and longitude to determine the homography matrix, and based on the homography matrix, the bird's-eye view corresponding to the image after field of view alignment is determined. The area to be collected is captured by millimeter-wave radar to obtain radar images. The radar images and the bird's-eye view are then jointly calibrated in latitude and longitude to determine the calibration conversion relationship. Using the homography matrix and the calibration transformation relationship, the target telephoto image, target short-focus image and target radar image collected in the area to be collected are fused within a preset time period. Methods for adjusting image transparency in telephoto images include: The first method is to adjust the transparency of the telephoto image to a preset value; The second method involves determining the base transparency of the telephoto image, adjusting its transparency to the base transparency level, and then overlaying the adjusted telephoto image with the short-focus image to generate a first image. The first image is manually annotated to generate feature labels. A preset feature recognition model is then used to process the first image, obtaining the processing result. The similarity and overlap between the manually annotated feature labels and the processing result are compared. If both similarity and overlap meet preset requirements, the base transparency is no longer adjusted. If the similarity meets the preset requirements but the overlap does not, the base transparency value is adjusted upwards. If the overlap meets the preset requirements but the similarity does not, the base transparency value is adjusted downwards. The adjusted base transparency is used as the base transparency to repeatedly generate the first image, and it is determined whether further adjustments to the fine-tuned base transparency are needed, until both similarity and overlap meet the preset requirements. The process for determining basic transparency is as follows: The first approach is to determine basic transparency based on the experience of professionals. The second method involves extracting the telephoto and short-focus brightness corresponding to the telephoto and short-focus images, and determining the basic transparency corresponding to the telephoto and short-focus brightness based on a preset model. The third method involves extracting the telephoto and short-focus brightness corresponding to the telephoto and short-focus images, determining the historical base transparency corresponding to the telephoto and short-focus brightness in the historical database, and then using the historical base transparency as the base transparency. The fourth method, step 1, is to extract the focal length brightness and focal length brightness corresponding to the telephoto and short-focus images. Step 2: In the historical database, determine the historical baseline transparency corresponding to the telephoto brightness and the short-focus brightness; Step 3: If there is no historical base transparency corresponding to telephoto and short-focus brightness in the historical database, determine whether there is historical data corresponding to either telephoto or short-focus brightness. Step 4: If there is a corresponding historical data, determine the two historical brightness values ​​that are closest to the brightness values ​​of the historical data that are not available. Based on these two historical brightness values, determine two historical base transparency values. Based on these two historical base transparency values, determine the range of base transparency values. Within the range of base transparency values, randomly select a data value as the base transparency value. If not, determine the two historical brightness values ​​that are closest to the telephoto brightness and the short-focus brightness respectively. Match the two historical telephoto brightness values ​​with the two historical short-focus brightness values ​​to obtain four sets of telephoto brightness and short-focus brightness values. Use any set of telephoto brightness and short-focus brightness values ​​as the telephoto brightness and short-focus brightness values ​​in step 2 and repeat steps 2 to 4 until the basic transparency is determined.

2. The target detection method based on long and short focal length image synthesis according to claim 1, characterized in that, The process of overlaying the telephoto image with adjusted transparency onto the short-focus image to obtain a field-of-view aligned image is as follows: During the overlay process, the short-focus image is used as the base image, and the telephoto image with adjusted transparency is overlaid on the base image to obtain an image with aligned field of view.

3. The target detection method based on long and short focal length image synthesis according to claim 1, characterized in that, Based on the field-of-view aligned image, the process of jointly calibrating the latitude and longitude of the telephoto image and the short-focus image to determine the homography matrix is ​​as follows: Based on the image after field of view alignment, a first pixel transformation matrix is ​​determined between the telephoto image and the short-focus image, and the first pixel transformation matrix is ​​determined as the homography matrix.

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

5. A target detection system based on long and short focal length image synthesis, employing the target detection method based on long and short focal length image synthesis as described in claim 1, characterized in that, The system includes: The adjustment module is used to: acquire images of the area to be acquired 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 overlay the telephoto image with the adjusted transparency with the short-focus image to obtain an image with field of view alignment; The first calibration module is used to: perform joint latitude and longitude calibration on the telephoto image and the short-focus image based on the image after field of view alignment, determine the homography matrix, and determine the bird's-eye view corresponding to the image after field of view alignment based on the homography matrix; The second calibration module is used to: acquire images of the area to be acquired using millimeter-wave radar to obtain radar images, perform joint latitude and longitude calibration on the radar images and the bird's-eye view, and determine the calibration conversion relationship; The fusion module is used to fuse the target telephoto image, target short-focus image, and target radar image collected in the area to be collected within a preset time period, using the homography matrix and the calibration transformation relationship.

6. The target detection system based on long and short focal length image synthesis according to claim 5, characterized in that, The process of overlaying the telephoto image with adjusted transparency onto the short-focus image to obtain a field-of-view aligned image is as follows: During the overlay process, the short-focus image is used as the base image, and the telephoto image with adjusted transparency is overlaid on the base image to obtain an image with aligned field of view.

7. A target detection system based on long and short focal length image synthesis according to claim 5, characterized in that, Based on the field-of-view aligned image, the process of jointly calibrating the latitude and longitude of the telephoto image and the short-focus image to determine the homography matrix is ​​as follows: Based on the image after field of view alignment, a first pixel transformation matrix is ​​determined between the telephoto image and the short-focus image, and the first pixel transformation matrix is ​​determined as the homography matrix.

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

9. An electronic device, characterized in that, The electronic device includes a processor coupled to a memory storing at least one computer program, which is loaded and executed by the processor to enable the electronic device to perform the method as described in 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, which is loaded and executed by a processor to enable the computer to perform the method as described in any one of claims 1 to 4.

Images