A traffic multi-element radar visual fusion detection method comprises the following steps: acquiring original image data of a traffic road through a camera, acquiring radar point cloud data through a millimeter wave radar, recoding the original point cloud data detected by the radar into a grid image, and performing target detection on the grid image and a camera image by using a neural network. In a radar coordinate system, the target length, the target width and the speed in target information detected by a radar and a camera are expressed as the length, the width and the height of a three-dimensional feature cube, the intersection-to-union ratio of the three-dimensional feature cube is calculated, the target correlation degree is calculated according to the intersection-to-union ratio, two-source information fusion is carried out on the correlated target information, and the target correlation degree is obtained. And false targets and redundant information are removed. The advantages of the camera and the millimeter wave radar are fully exerted, richer and more accurate traffic target information can be detected, targets can be more accurately and rapidly associated, the requirements of intelligent traffic application are met, and powerful support is provided for efficient operation and traffic safety of an intelligent traffic system.

    一种交通多要素雷达视觉融合检测方法,通过相机采集交通道路的原始图像数据,同时通过毫米波雷达采集雷达点云数据,将雷达检测的原始点云数据重编码成网格图像,使用神经网络对网格图像和相机图像进行目标检测,在雷达坐标系中,将雷达和相机检测到的目标信息中的目标长度、目标宽度和速度表示为三维特征立方体的长、宽、高,计算三维特征立方体的交并比,根据交并比计算出目标关联度,将关联起来的目标信息进行二源信息融合,去除假目标和冗余信息。本发明充分发挥相机和毫米波雷达各自的优势,能够检测出更加丰富且准确的交通目标信息,更加准确迅速关联目标,满足智慧交通应用的需求,为实现智慧交通系统的高效运行和交通安全提供有力支持。


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    Title :

    Traffic multi-element radar visual fusion detection method


    Additional title:

    一种交通多要素雷达视觉融合检测方法


    Contributors:
    KE WENXIONG (author) / CHEN QIAN (author) / LIU JIAN (author) / XI GUANGRONG (author) / YIN JIEJUN (author) / WANG SHIDUO (author) / LIU TAO (author) / LI XIAOLIU (author) / LI YOUZHI (author)

    Publication date :

    2024-01-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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