The invention discloses a target trajectory fusion method based on a multi-point roadside sensor, and the method is characterized in that the method comprises the following steps: installing sensing devices, and carrying out the time alignment operation of the sensing devices; acquiring point cloud data of sensing equipment at each point location, and registering point clouds of adjacent point locations to obtain a coordinate system transformation matrix between the sensing equipment; obtaining single point location sensing fusion information uploaded by each point location, and caching the single point location sensing fusion information in a data fusion center server; obtaining all point location data and then carrying out time alignment processing on the data; carrying out system track matching judgment on the point location data of which the time is aligned in sequence; and performing data fusion on the target with the matched track, and outputting sensing fusion information to the outside.
本发明公开一种基于多点位路侧感知器的目标轨迹融合方法,其特征在于,包括如下步骤:安装传感设备并对各传感设备进行时间对齐操作;获取每个点位传感设备的点云数据,对相邻点位的点云进行配准,得到传感设备间的坐标系转换矩阵;获取各个点位上传的单个点位感知融合信息,并将单个点位感知融合信息缓存于数据融合中心服务器;获取所有点位数据后对数据进行时间对齐处理;对已对齐时间的每个点位数据按顺序进行系统轨迹匹配判断;对已匹配轨迹的目标进行数据融合,并对外输出感知融合信息。
Target trajectory fusion method based on multi-point roadside sensor
一种基于多点位路侧感知器的目标轨迹融合方法
2024-04-05
Patent
Electronic Resource
Chinese
Roadside fusion management method and system based on cross-point location
European Patent Office | 2021
|