The invention discloses a road thrown object classification detection method integrated with environmental information perception. The method comprises the following steps: acquiring road thrown object image data; the method comprises the following steps: marking pixel point information belonging to different types by using a semantic segmentation model according to various real object information, such as roads, vehicles, thrown objects and the like, in an environment in front of a vehicle in running, and extracting refined information of each pixel point in thrown object image data; and using the trained target detection model to perform feature extraction on the refined information of the road spilled objects obtained by semantic segmentation, and outputting the detected road spilled objects and categories thereof. The method can detect the thrown objects which are static in the area in front of the running of the vehicle, is suitable for various complex scenes in the running process of the vehicle, is excellent in detection performance of various thrown objects, and has high practical value.
本发明公开了一种融入环境信息感知的道路抛洒物分类检测方法,该方法包括:获取道路抛洒物图像数据;针对车辆运行前方环境内的各类实物信息,例如道路、车辆、抛洒物等,利用语义分割模型对隶属于不同类别的像素点信息进行标号,提取抛洒物图像数据内各像素点的精细化信息;使用训练好的目标检测模型,对语义分割获取的道路抛洒物精细化信息进行特征提取,输出检测到的道路抛洒物及其类别。本发明可以检测到静止在车辆运行前方区域内的抛洒物,适用车辆运行过程中的各种复杂场景,各类抛洒物检出性能出色,因而具有较强的实用价值。
Road thrown object classification detection method integrated with environmental information perception
融入环境信息感知的道路抛洒物分类检测方法
2025-03-11
Patent
Electronic Resource
Chinese
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