Radar and multi-camera combined perimeter security monitoring device and method
By combining multiple sets of telephoto cameras with radar, and utilizing field-of-view stitching and data fusion processing, the problem of low monitoring efficiency of existing equipment has been solved, enabling efficient real-time monitoring and identification of the perimeter area.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- XIAN LONGVIEW ELECTRONICS ENG
- Filing Date
- 2025-12-29
- Publication Date
- 2026-05-05
AI Technical Summary
Existing perimeter security equipment combining radar and cameras has shortcomings in target identification and monitoring efficiency, especially in slow response speed, making it difficult to achieve efficient monitoring.
The system employs multiple sets of telephoto cameras in conjunction with radar, using field-of-view stitching to cover the monitoring area. The radar module, visual camera module, and processing module work in parallel to perform coordinate transformation and data fusion processing of target point cloud data and video data, enabling real-time monitoring and identification.
It improves the monitoring efficiency of the perimeter area, reduces camera latency, and enables real-time monitoring and identification of the perimeter area.
Smart Images
Figure CN121978676A_ABST
Abstract
Description
Technical Field
[0001] The embodiments of this application relate to the field of radar technology, and in particular to a radar and multi-camera combined perimeter security monitoring device and method. Background Technology
[0002] Modular perimeter surveillance equipment includes radar and multiple sets of visual cameras, and can also be a radar-visual integrated system. The radar-visual integrated perimeter security system integrates radar technology and visual sensing technology. By fusing the detection capabilities of radar and the recognition capabilities of visual sensing, it achieves multi-dimensional spatial detection through spatial perception and video perception, enabling efficient and accurate monitoring of the perimeter area.
[0003] However, radar is mainly used to measure the speed, distance, and azimuth of targets, but it is generally difficult to identify targets, and its azimuth resolution is usually limited. Cameras, on the other hand, have good target recognition capabilities, but generally lack range and velocity measurement capabilities, and their viewing angle and focal length are related. Typical integrated radar-visual perimeter security detection equipment uses radar and a zoom camera. After the radar detects a target, the camera is rotated and its focus adjusted by a pan-tilt unit to confirm the target, resulting in a slow response time.
[0004] Therefore, how to improve the monitoring efficiency of the perimeter area is a technical problem that urgently needs to be solved. Summary of the Invention
[0005] To address the aforementioned technical issues, embodiments of this application propose a perimeter security monitoring device and method combining radar and multiple cameras. The aim is to reduce camera latency by stitching together multiple sets of telephoto cameras and combining them with radar, thereby improving the monitoring efficiency of the perimeter area.
[0006] To achieve the above objectives, embodiments of this application propose a radar and multi-camera combined perimeter security monitoring device, the device comprising: The radar module is used to detect the perimeter monitoring area and acquire target point cloud data of the target object; the target point cloud data includes the target object's speed, distance, and orientation information. The visual camera module includes multiple telephoto cameras connected in parallel. The multiple telephoto cameras are configured to jointly stitch together their fields of view to cover a predetermined azimuth range of the perimeter monitoring area, and output video data within the predetermined azimuth range. The processing module receives target point cloud data from the radar module and video data from the vision camera module, and performs coordinate transformation and data fusion processing on the target point cloud data and video data to achieve real-time monitoring and identification of the target.
[0007] To achieve the above objectives, embodiments of this application also propose a method for perimeter security monitoring combining radar and multiple cameras, the method comprising: The perimeter monitoring area is scanned to obtain target point cloud data; the target point cloud data includes the target object's speed, distance, and orientation information. Collect video data within a predetermined azimuth range in the perimeter monitoring area; wherein, the predetermined azimuth range is obtained by stitching together the field of view angles of multiple visual cameras; The target point cloud data and video data are subjected to coordinate transformation and data fusion processing to achieve real-time monitoring and identification of the target.
[0008] To achieve the above objectives, embodiments of this application also propose an electronic device, including a processor and a memory, wherein the memory stores instructions executable by the processor, and the processor is configured to execute the instructions such that the electronic device can implement the radar and multi-camera joint perimeter security monitoring method described above.
[0009] To achieve the above objectives, embodiments of this application also propose a computer-readable storage medium storing a computer program that, when executed by a processor, enables a radar and multi-camera combined perimeter security monitoring method as described above.
[0010] This application proposes a radar and multi-camera combined perimeter security monitoring device. The device includes a radar module, a vision camera module, and a processing module. The radar module detects the perimeter monitoring area and acquires target point cloud data of the target object. The vision camera module includes multiple telephoto cameras. Since the multiple telephoto cameras can be configured to jointly stitch together their fields of view to cover a predetermined azimuth range of the perimeter monitoring area and output video data within the predetermined azimuth range, the monitoring range of the perimeter monitoring area can be improved. The processing module receives the motion state parameters of the radar module and the video data from the vision camera module, and performs coordinate transformation and data fusion processing on the target point cloud data and video data to achieve real-time monitoring and identification of the target. Because this solution can jointly stitch together the fields of view of multiple cameras, and the radar module, vision camera module, and processing module operate in parallel, with multiple telephoto cameras in the vision camera module also operating in parallel, they can work in parallel, thereby enabling uninterrupted synchronous perception of the entire monitoring area, thus achieving real-time monitoring and identification processing of the area. Based on this, this solution reduces camera latency by stitching together multiple sets of telephoto cameras and combining them with radar, thereby improving the monitoring efficiency of the perimeter area.
[0011] Optionally, the vision camera module also includes two wide-angle cameras for calibrating the telephoto camera and filling in near-field blind spots.
[0012] Optionally, the number of telephoto cameras is even and they are symmetrically arranged on both sides of the radar module; wherein, the telephoto camera on one side covers the positive azimuth range and the telephoto camera on the other side covers the negative azimuth range.
[0013] Optionally, the radar module covers a preset azimuth range of -45 degrees to 45 degrees; wherein, the telephoto camera on one side covers a positive azimuth range of 0 degrees to 45 degrees, and the telephoto camera on the other side covers a negative azimuth range of -45 degrees to 0 degrees.
[0014] Optionally, the field of view of the telephoto camera The number of telephoto cameras Satisfy the following formula: ; in, This represents the total angle within the predetermined azimuth range.
[0015] Optionally, coordinate transformation and data fusion processing are performed on the target point cloud data and video data. Specifically, this includes: stitching the video data using an image stitching algorithm to generate panoramic video data covering the entire monitoring area; simultaneously, for each frame of the image, real-time processing is performed using a deep learning target detection algorithm to output a target detection box containing the target object for tracking; the target point cloud data and panoramic video data are synchronized in time, and the synchronized target point cloud data and panoramic video data are transformed to a unified coordinate system; under the same timestamp, a set of target point cloud data transformed to the same coordinate system is matched with a set of panoramic video data to associate the same target object, while generating independent trajectories for each associated target object and assigning a unique identifier.
[0016] Optionally, the apparatus provided in this application embodiment further includes: The power supply module is electrically connected to the radar module, vision camera module, and processing module respectively, and is used to supply power to the radar module, vision camera module, and processing module through external power input. The network switch module communicates with the radar module, vision camera module, and processing module respectively, forming an internal local area network for the device and communicating with external platforms. Attached Figure Description
[0017] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies of this application will be briefly introduced below. Obviously, the following drawings are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. The drawings described herein are only used to explain this application and are not intended to limit this application.
[0018] Figure 1 This is a schematic diagram of the structure of a radar and multi-camera combined perimeter security monitoring device provided in one embodiment of this application; Figure 2 This is a schematic diagram of the structure of a perimeter security monitoring device combining radar and multiple cameras, provided in one embodiment of this application; Figure 3 This is a detailed structural schematic diagram of a perimeter security monitoring device combining radar and six cameras, provided in one embodiment of this application; Figure 4 This is a schematic diagram of the scene coverage when using a cadmium sulfide camera in one embodiment of this application; Figure 5 This is a processing flowchart of a radar and multi-camera combined perimeter security monitoring device provided in one embodiment of this application; Figure 6 This is a flowchart of a radar and multi-camera combined perimeter security monitoring method provided in one embodiment of this application; Figure 7 This is a schematic diagram of the structure of an electronic device provided in another embodiment of this application. Detailed Implementation
[0019] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the various embodiments of this application will be described in detail below with reference to the accompanying drawings. Those skilled in the art will understand that many technical details have been presented in the embodiments of this application to facilitate better understanding. However, the technical solutions claimed in this application can be implemented even without these technical details and various variations and modifications based on the following embodiments. The division of the following embodiments is for ease of description and should not constitute any limitation on the specific implementation of this application. The following embodiments can be combined with and referenced by each other without contradiction.
[0020] Modular perimeter surveillance equipment includes radar and multiple sets of visual cameras, and can also be a radar-visual integrated system. The radar-visual integrated perimeter security system integrates radar technology and visual sensing technology. By fusing the detection capabilities of radar and the recognition capabilities of visual sensing, it achieves multi-dimensional spatial detection through spatial perception and video perception, enabling efficient and accurate monitoring of the perimeter area.
[0021] However, radar is mainly used to measure the speed, distance, and azimuth of targets, but it is generally difficult to identify targets, and its azimuth resolution is usually limited. Cameras, on the other hand, have good target recognition capabilities, but generally lack range and velocity measurement capabilities, and their viewing angle and focal length are related. Typical integrated radar-visual perimeter security detection equipment uses radar and a zoom camera. After the radar detects a target, the camera is rotated and its focus adjusted by a pan-tilt unit to confirm the target, resulting in a slow response time.
[0022] Therefore, how to improve the monitoring efficiency of the perimeter area is a technical problem that urgently needs to be solved.
[0023] In view of this, embodiments of this application propose a perimeter security monitoring device and method that combines radar and multiple cameras, aiming to reduce camera latency by stitching together multiple sets of telephoto cameras and combining them with radar, thereby improving the monitoring efficiency of the perimeter area.
[0024] First, an embodiment of this application is described, which proposes a perimeter security monitoring device combining radar and multiple cameras.
[0025] like Figure 1 and Figure 2 As shown, Figure 1 and Figure 2 This is a schematic diagram of a radar and multi-camera combined perimeter security monitoring device according to an embodiment of this application. The device includes: a radar module 110, a visual camera module 120, and a processing module 130. Optionally, the device also includes: a power supply module 140 and a network switch module 150.
[0026] Radar module 110 can be Figure 2 The radar and vision camera module 120 may include Figure 2 Camera 1 to Camera 2 And camera A and camera B. Network switch module 150 can be... Figure 2 The network switch in the middle.
[0027] Radar module 110 is used to detect the perimeter monitoring area and acquire target point cloud data of the target object. The target point cloud data includes the target object's speed, distance, and orientation information.
[0028] For example, radar module 110 may employ the K-band, such as the 24 GHz band. This band offers good atmospheric penetration and moderate resolution, effectively balancing detection range and accuracy. The radar's azimuth detection range typically covers -45 degrees (°) to 45 degrees, sufficient to monitor a wide perimeter area.
[0029] In the target point cloud data, each data point can contain the target object's distance and azimuth information in polar coordinates; simultaneously, the radial velocity of the target object can be directly measured through the Doppler effect. Optionally, the target point cloud data can also contain attribute information such as the target object's reflection intensity. For example, radar module 110 can stably detect targets such as vehicles and personnel within a range of 300 meters.
[0030] like Figure 3 As shown, the radar module 110, which can be referred to as a radar, may consist of a front-end board (RF front-end) and a signal processing board. The front-end board is responsible for transmitting and receiving millimeter-wave signals, while the signal processing board rapidly processes the echo signals to generate target point cloud data. The radar module 110 is powered by a 12V-48V power supply or by a converted power supply.
[0031] The visual camera module 120 includes multiple telephoto cameras connected in parallel. The multiple telephoto cameras are configured to be stitched together with their fields of view to cover a predetermined azimuth range of the perimeter monitoring area, and output video data within the predetermined azimuth range.
[0032] For example, the vision camera module 120 can work in parallel with the radar module 110 to improve high-resolution visual information.
[0033] The visual camera module 120 may include multiple telephoto cameras connected in parallel, whose fields of view are stitched together to cover a predetermined azimuth range of the perimeter monitoring area, and output continuous video data within that range.
[0034] For example, the telephoto camera can have a resolution of at least 5 megapixels and a focal length of 16 millimeters (mm) to ensure the clarity of distant objects.
[0035] In one possible embodiment, the number of telephoto cameras is even, and they are symmetrically arranged on both sides of the radar module. One telephoto camera on one side covers the positive azimuth range, while the other telephoto camera on the other side covers the negative azimuth range.
[0036] In one possible embodiment, the number of telephoto cameras can be even, and they are symmetrically arranged on both sides of the radar module.
[0037] In one possible embodiment, the radar module covers a preset azimuth range of -45 degrees to 45 degrees; wherein, the telephoto camera on one side covers a positive azimuth range of 0 degrees to 45 degrees, and the telephoto camera on the other side covers a negative azimuth range of -45 degrees to 0 degrees.
[0038] For example, the number of telephoto cameras The number of telephoto cameras can be even, and they are symmetrically arranged on both sides of the radar module. The field of view of each telephoto camera... The number of telephoto cameras Satisfy the following formula: ; in, This represents the total angle within the predetermined azimuth range.
[0039] For example, when At that time, each telephoto camera had a field of view of 15°, and they were spaced apart in azimuth. Arranged together, they jointly cover the predetermined azimuth range of the perimeter monitoring area.
[0040] In one possible embodiment, the vision camera module also includes two wide-angle cameras for calibrating the telephoto camera and filling in near-field blind spots.
[0041] For example, the field of view of a wide-angle camera can be greater than or equal to 90 degrees. Two wide-angle cameras can overlap their fields of view, which allows for the calibration of the telephoto camera to ensure accuracy during subsequent coordinate transformation processing. It can also fill in blind spots in the near area, ensuring no blind areas are detected.
[0042] For example, a wide-angle camera may have a resolution of at least 8 megapixels and a focal length of 4mm.
[0043] For example, Figure 4The diagram illustrates the field of view coverage when using cadmium sulfide cameras. The radar module uses the K-band, with an azimuth range of -45° to +45°, enabling it to detect targets within a range greater than 300 meters (m) and obtain target point cloud data. There are six telephoto cameras (cameras 1 to 6), each with ≥5 megapixels, a field of view ≥15°, and a focal length of 16mm. There are two wide-angle cameras (camera A and camera B), each with ≥8 megapixels, a field of view ≥90°, and a focal length of 4mm. Cameras 1 to 3 are arranged at 15° intervals, each covering 15° of the azimuth, thus achieving combined coverage of the azimuth range from 0 to 45°. Cameras 4 to 6 are also arranged at 15° intervals, each covering 15° of the azimuth, thus achieving combined coverage of the azimuth range from -45° to 0°. Cameras A and B have a field of view of 90°, and their fields of view overlap, which can be used to calibrate six telephoto cameras and fill in blind spots in the near zone.
[0044] like Figure 3 As shown, the visual camera module 120 may include six camera modules, each receiving a 12V DC power supply and connected to the data processing center via a network interface. These modules together constitute a visual sensing array that achieves wide-area, high-resolution coverage.
[0045] The processing module 130 is used to receive target point cloud data from the radar module 110 and video data from the vision camera module 120, and to perform coordinate transformation and data fusion processing on the target point cloud data and video data to achieve real-time monitoring and identification of the target.
[0046] For example, during the coordinate transformation stage, the processing module can first use pre-calibrated parameters to uniformly transform radar point cloud data (i.e., target point cloud data) and video data (e.g., image pixel coordinates) to the same world coordinate system.
[0047] For example, in the data fusion processing stage, the processing module can associate and match the target points detected by the radar with the target bounding boxes identified in the video image. After successful matching, the target object is tracked and managed, and information complementarity is achieved: the target object in the video data is assigned the precise distance and speed from the radar module, and the target object in the radar module is assigned the type recognition result (such as person, vehicle) and appearance features from the video data.
[0048] In one possible embodiment, coordinate transformation and data fusion processing are performed on the target point cloud data and video data. Specifically, this includes: stitching the video data using an image stitching algorithm to generate panoramic video data covering the entire monitoring area; simultaneously, for each frame of the image, a deep learning target detection algorithm is used for real-time processing to output a target detection box containing the target object for tracking; the target point cloud data and panoramic video data are synchronized in time, and the synchronized target point cloud data and panoramic video data are transformed to a unified coordinate system; under the same timestamp, a set of target point cloud data transformed to the same coordinate system is matched with a set of panoramic video data to achieve association of the same target object, while generating independent trajectories for each associated target object and assigning a unique identifier.
[0049] In specific implementations, such as Figure 4 As shown, the processing module continuously receives raw data streams from the radar module and parses them to generate target point cloud data. Each data point or target cluster typically includes distance, velocity, and azimuth. Simultaneously, video streams are acquired from multiple parallel telephoto cameras. An image stitching algorithm generates a panoramic video stream covering the entire monitoring area. For each frame, a deep learning object detection algorithm (e.g., YOLO, Faster R-CNN) is used for real-time processing, outputting object detection boxes containing the target object. Each object detection box can include the target object's location information, category information (e.g., the target object is a person or a vehicle), and a corresponding confidence score.
[0050] Then, the processing module can provide a unified, high-precision timestamp for the radar module and the vision camera module based on Network Time Protocol (NTP) synchronization technology, GPS clock, etc. Based on the timestamp, the processing module performs time alignment on the target point cloud data and video frames in the video data, ensuring that the data processed is from the same moment or within the same time window, thus eliminating errors caused by asynchronous sensor processing delays.
[0051] Then, the processing module can transform the radar and video data to a unified coordinate system based on pre-completion joint calibration parameters; for example, transforming the polar coordinates of the radar module. Convert to world coordinates or Simultaneously, using the camera's intrinsic parameters (e.g., focal length, optical center, etc.) and extrinsic parameters (rotation and translation relative to the world coordinate system), the target detection box in each frame of video is back-projected into the world coordinate system. It should be noted that, due to the lack of depth information in a monocular camera, it is usually necessary to assume that the target is on the ground. Alternatively, it can use information such as multiple camera views and prior object dimensions to estimate its world coordinates.
[0052] Based on the association algorithm, a set of target point cloud data transformed to the same coordinate system is matched with a set of panoramic video data at the same timestamp. The association algorithm may include nearest neighbor association, Hungarian algorithm, etc., and this application embodiment does not impose specific limitations on it. Then, an independent trajectory is created for each successfully associated target and a unique identifier is assigned. At the same time, filtering and prediction algorithms are used to maintain each trajectory; for example, based on the current motion state of the target object, its position at the next moment is predicted; when the video data and target point cloud data are updated, the video data and target point cloud data are fused with the predicted value to update the optimal state estimate of the target object.
[0053] like Figure 3 As shown, the processing module 130 can be a main processing circuit board that aggregates video streams from the camera module and point cloud data from the radar signal processing board, and performs data processing procedures as described in the above embodiments, such as coordinate transformation and data fusion.
[0054] Optionally, the apparatus provided in the embodiments of this application may further include an edge computing module, i.e. Figure 3 The edge box shown is used to deploy additional analytics models to enable more sophisticated localized intelligent analytics (e.g., specific behavior recognition) and reduce the load on the backend servers.
[0055] The power supply module 140 is electrically connected to the radar module 110, the vision camera module 120 and the processing module 130 respectively, and is used to supply power to the radar module 110, the vision camera module 120 and the processing module 130 through an external power input.
[0056] For example, the power supply module 140 can be designed with a professional power management circuit, including a surge protector and a power converter. It can be connected to an external 250V AC or 48V DC power supply. After the power enters the power supply module 140, it is first protected by the surge protector, and then stepped down by the 48V-12V power converter to provide stable power to the numerous components in the system that require a 12V operating voltage.
[0057] The network switch module 150 is communicatively connected to the radar module 110, the vision camera module 120, and the processing module 130, respectively, to form an internal local area network for the device and to communicate with external platforms.
[0058] For example, the network switch module 150 has a built-in network switch. The radar module, each camera, and the processing module are all connected to this switch via network cables, forming a high-speed internal local area network to ensure low-latency and stable transmission of large amounts of video and point cloud data. At the same time, the network switch module 150 provides a unified external data interface to upload the fused and processed structured alarm information and target situation data to the central monitoring platform and receive configuration commands from the platform.
[0059] It is understood that the device provided in the embodiments of this application uses radar and multiple cameras to work in parallel. Unlike the traditional radar-guided photoelectric method, the embodiments of this application use multiple sets of cameras to cover the azimuth in parallel and process radar and vision in parallel, reducing the traditional second-level processing time to the millisecond level.
[0060] This application proposes a radar and multi-camera combined perimeter security monitoring device. The device includes a radar module, a vision camera module, and a processing module. The radar module detects the perimeter monitoring area and acquires target point cloud data of the target object. The vision camera module includes multiple telephoto cameras. Since the multiple telephoto cameras can be configured to jointly stitch together their fields of view to cover a predetermined azimuth range of the perimeter monitoring area and output video data within the predetermined azimuth range, the monitoring range of the perimeter monitoring area can be improved. The processing module receives the motion state parameters of the radar module and the video data from the vision camera module, and performs coordinate transformation and data fusion processing on the target point cloud data and video data to achieve real-time monitoring and identification of the target. Because this solution can jointly stitch together the fields of view of multiple cameras, and the radar module, vision camera module, and processing module operate in parallel, with multiple telephoto cameras in the vision camera module also operating in parallel, they can work in parallel, thereby enabling uninterrupted synchronous perception of the entire monitoring area, thus achieving real-time monitoring and identification processing of the area. Based on this, this solution reduces camera latency by stitching together multiple sets of telephoto cameras and combining them with radar, thereby improving the monitoring efficiency of the perimeter area.
[0061] Another embodiment of this application proposes a radar and multi-camera combined perimeter security monitoring method applied to an electronic device, wherein the electronic device can be a terminal or a server. This embodiment and the following embodiments will use a server as an example for description. The implementation details of the radar and multi-camera combined perimeter security monitoring method proposed in this embodiment will be described in detail below. The following implementation details are provided for ease of understanding and are not necessary for implementing this solution.
[0062] The specific process of the radar and multi-camera combined perimeter security monitoring method proposed in this embodiment can be described as follows: Figure 6 As shown, steps 601 to 603 are included.
[0063] The radar and multi-camera combined perimeter security monitoring method proposed in this embodiment can be applied to the radar and multi-camera combined perimeter security monitoring system provided in the above embodiment.
[0064] Step 601: Scan the perimeter monitoring area to obtain target point cloud data.
[0065] The target point cloud data includes the target object's speed, distance, and orientation information.
[0066] Step 602: Collect video data within a predetermined azimuth range of the perimeter monitoring area.
[0067] The predetermined azimuth range is obtained by stitching together the field of view angles of multiple visual cameras; Step 603: Perform coordinate transformation and data fusion processing on the target point cloud data and video data to achieve real-time monitoring and identification of the target.
[0068] For a detailed description of steps 601 to 603, please refer to the above embodiments, which will not be repeated here.
[0069] This application proposes a radar and multi-camera combined perimeter security monitoring method. First, the perimeter monitoring area is scanned to acquire target point cloud data. Then, video data within a predetermined azimuth range of the perimeter monitoring area is collected. Finally, the target point cloud data and video data undergo coordinate transformation and data fusion processing to achieve real-time target monitoring and identification. Since the predetermined azimuth range is obtained by stitching together the field of view angles of multiple visual cameras, the monitoring range of the perimeter monitoring area can be increased. Because the target point cloud data includes the target object's speed, distance, and azimuth information, and this solution can perform coordinate transformation and data fusion processing on the target point cloud data and video data, it enables uninterrupted synchronous perception of the entire monitoring area, thereby achieving real-time monitoring and identification of the area. Based on this, this solution reduces camera latency by stitching together multiple sets of telephoto cameras and combining them with radar, thereby improving the monitoring efficiency of the perimeter area.
[0070] The steps described above are for clarity only. In implementation, they can be combined into one step, or some steps can be broken down into multiple steps, as long as they involve the same logical relationship, they are all within the scope of protection of this application. Adding insignificant modifications or introducing insignificant designs to the algorithm or process, without changing the core design of the algorithm and process, are also within the scope of protection of this application.
[0071] Another embodiment of this application provides an electronic device, such as Figure 7As shown, it includes a processor 71 and a memory 72. The memory 72 stores instructions that the processor 71 can execute. When the processor 71 is configured to execute the instructions, the electronic device can realize a radar and multi-camera joint perimeter security monitoring method as described in the above method embodiment.
[0072] The memory and processor are connected via a bus, which includes any number of interconnecting buses and bridges, connecting various circuits of one or more processors and the memory. The bus can also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and will not be described further herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be a single component or multiple components, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. Data processed by the processor is transmitted over the wireless medium via an antenna, which further receives data and transmits it to the processor.
[0073] The processor manages the bus and general processing, and also provides various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory is used to store data used by the processor during operation.
[0074] Another embodiment of this application proposes a computer-readable storage medium storing a computer program that, when executed by a processor, enables a radar and multi-camera combined perimeter security monitoring method as described in the above method embodiments.
[0075] That is, those skilled in the art will understand that all or part of the steps in the above method embodiments can be implemented by a program instructing related hardware. The program is stored in a storage medium and includes several instructions to cause a device (such as a microcontroller, chip, etc.) or processor to execute all or part of the steps of the method described in the method embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory, random access memory, magnetic disks, or optical disks.
[0076] Those skilled in the art will understand that the above embodiments are specific implementations of this application, and in practical applications, various changes can be made in form and detail without departing from the spirit and scope of this application. For those skilled in the art, several improvements and modifications can be made without departing from the principles of this application, and these improvements and modifications are also considered to be within the scope of protection of this application.
Claims
1. A perimeter security monitoring device combining radar and multiple cameras, characterized in that, The device includes: The radar module is used to detect the perimeter monitoring area and acquire target point cloud data of the target object; the target point cloud data includes the target object's speed, distance, and orientation information. The visual camera module includes multiple telephoto cameras connected in parallel. The multiple telephoto cameras are configured to jointly stitch together their fields of view to cover a predetermined azimuth range of the perimeter monitoring area, and output video data within the predetermined azimuth range. The processing module receives target point cloud data from the radar module and video data from the vision camera module, and performs coordinate transformation and data fusion processing on the target point cloud data and video data to achieve real-time monitoring and identification of the target.
2. The apparatus according to claim 1, characterized in that, The vision camera module also includes two wide-angle cameras for calibrating the telephoto camera and filling in near-field blind spots.
3. The apparatus according to claim 1, characterized in that, The number of telephoto cameras is even, and they are symmetrically arranged on both sides of the radar module; one of the telephoto cameras covers the positive azimuth range, and the other telephoto camera covers the negative azimuth range.
4. The apparatus according to claim 3, characterized in that, The radar module covers a preset azimuth range of -45 degrees to 45 degrees; the telephoto camera on one side covers a positive azimuth range of 0 degrees to 45 degrees, and the telephoto camera on the other side covers a negative azimuth range of -45 degrees to 0 degrees.
5. The apparatus according to claim 3, characterized in that, Field of view of a telephoto camera The number of telephoto cameras Satisfy the following formula: ； in, This represents the total angle within the predetermined azimuth range.
6. The apparatus according to claim 1, characterized in that, The coordinate transformation and data fusion processing of the target point cloud data and video data are specifically implemented as follows: The video data is stitched together using an image stitching algorithm to generate panoramic video data covering the entire monitoring area. At the same time, for each frame of the image, a deep learning object detection algorithm is used for real-time processing to output an object detection box containing the target object, so as to track the target object. The target point cloud data and panoramic video data are synchronized in time, and the synchronized target point cloud data and panoramic video data are converted to a unified coordinate system. Under the same timestamp, a set of target point cloud data transformed to the same coordinate system is matched with a set of panoramic video data to achieve association of the same target object. At the same time, an independent trajectory is generated for each associated target object and a unique identifier is assigned.
7. The apparatus according to claim 1, characterized in that, The device further includes: The power supply module is electrically connected to the radar module, vision camera module, and processing module respectively, and is used to supply power to the radar module, vision camera module, and processing module through external power input. The network switch module communicates with the radar module, vision camera module, and processing module respectively, forming an internal local area network for the device and communicating with external platforms.
8. A method for perimeter security monitoring combining radar and multiple cameras, characterized in that, include: The perimeter monitoring area is scanned to obtain target point cloud data; the target point cloud data includes the target object's speed, distance, and orientation information. Collect video data within a predetermined azimuth range in the perimeter monitoring area; wherein, the predetermined azimuth range is obtained by stitching together the field of view angles of multiple visual cameras; The target point cloud data and video data are subjected to coordinate transformation and data fusion processing to achieve real-time monitoring and identification of the target.
9. An electronic device, characterized in that, include: The processor and memory, wherein the memory stores instructions that the processor can execute, and the processor is configured to execute the instructions such that the electronic device can implement the radar and multi-camera combined perimeter security monitoring method as described in claim 8.
10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it can realize the radar and multi-camera combined perimeter security monitoring method as described in claim 8.