The invention discloses a binocular vision-millimeter wave radar multi-element joint detection method, which comprises the following steps: constructing a vision monitoring component, carrying out target detection in a region by utilizing a learning network, and carrying out vision target tracking based on a multi-target tracking algorithm to obtain a vision target trajectory; the target echo signal is processed by a radar signal processing algorithm to generate a target plot, and based on a joint probability data association algorithm and a Kalman filtering algorithm, tracking and prediction of a radar target are realized to obtain a radar target trajectory; and according to the visual target trajectory and the radar target trajectory, establishing a multi-level constraint association algorithm, and constructing a feature-level deep fusion framework. According to the method, deep fusion of radar and binocular vision target data is realized, and the sensing coverage range and the information stability of a radar-binocular vision fusion system are enhanced.
本发明公开了一种双目视觉‑毫米波雷达多要素联合探测方法,包括:构建视觉监测组件,并利用学习网络进行区域内目标检测,并基于多目标跟踪算法进行视觉目标跟踪,得到视觉目标轨迹;目标回波信号经过雷达信号处理算法处理后生成目标点迹,并基于联合概率数据关联算法和卡尔曼滤波算法,实现雷达目标的跟踪和预测,得到雷达目标轨迹;根据所述视觉目标轨迹、所述雷达目标轨迹,建立多级约束关联算法,构建特征级深层次融合框架。本发明实现对雷达、双目视觉目标数据的进行深度融合,增强雷达‑双目视觉融合系统的感知覆盖范围和信息稳定性。
Binocular vision-millimeter wave radar multi-element joint detection method
一种双目视觉-毫米波雷达多要素联合探测方法
2024-12-27
Patent
Electronic Resource
Chinese
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