The invention discloses a roadside parking vehicle track recognition method and system based on multi-sensor perception, and relates to the field of intelligent parking management recognition, and themethod comprises the steps: respectively obtaining vehicle target foreground region information according to images collected by an infrared camera and a visible light camera; performing 2D target detection fusion according to the confidence weights corresponding to the visible light camera and the infrared thermal imaging camera, the vehicle target foreground region information and the joint calibration data; and when the radar sensor data is reliable, according to the laser point cloud data, the joint calibration data and a 2D target detection fusion result, obtaining vehicle target 3D spatial position information, and then obtaining a vehicle 3D track. According to the method, the 3D trajectory behavior information of the vehicle in the roadside parking service is acquired by using themulti-sensor fusion sensing technology, so that the problem that the vehicle behavior is difficult to accurately identify under different illumination conditions and weather conditions, particularlyunder the condition of serious occlusion, can be solved, and the accuracy of roadside parking vehicle trajectory identification is improved.

    本发明公开一种基于多传感器感知的路侧停车车辆轨迹识别方法及系统,涉及智能停车管理识别领域,所述方法包括:根据红外相机和可见光相机采集的图像分别获取车辆目标前景区域信息;根据可见光相机和红外热成像相机对应的置信度权值、车辆目标前景区域信息、以及联合标定数据进行2D目标检测融合;当雷达传感器数据可靠时,根据激光点云数据、所述联合标定数据、以及2D目标检测融合结果,获得车辆目标3D空间位置信息,进而得到车辆3D轨迹。本发明利用多传感器融合感知技术获取路侧停车业务中车辆3D轨迹行为信息,可以解决不同光照条件、天候条件下,特别是存在严重遮挡的请况下,难以准确识别车辆行为的问题,提升了路侧停车车辆轨迹识别的准确率。


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    Title :

    Roadside parking vehicle track recognition method and system based on multi-sensor perception


    Additional title:

    一种基于多传感器感知的路侧停车车辆轨迹识别方法及系统


    Contributors:
    YAN JUN (author) / ZHANG HENG (author) / XIANG YANPING (author) / WANG YANQING (author)

    Publication date :

    2021-03-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G06K Erkennen von Daten , RECOGNITION OF DATA





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