Title:
TARGET DETECTION METHOD BASED ON VISION, LASER RADAR, AND MILLIMETER-WAVE RADAR
Document Type and Number:
WIPO Patent Application WO/2021/223368
Kind Code:
A1
Abstract:
Disclosed is a target detection method based on vision, a laser radar and a millimeter-wave radar. The method comprises: acquiring original data detected by each of a camera, a laser radar and a millimeter-wave radar, and performing time and space synchronization on the three pieces of original data; resolving the data from the millimeter-wave radar according to a radar protocol; generating a three-dimensional region of interest on the basis of the position and velocity of the resolved data of the millimeter-wave radar and a radar reflection area; extracting feature maps of a point cloud aerial view and a camera image; projecting the generated three-dimensional region of interest onto a feature map of a point cloud aerial view of the laser radar and the feature map of the camera image; and fusing feature maps which have a preselected box, and performing fully connected layer processing on a fused image. By means of the target detection method based on vision, a laser radar and a millimeter-wave radar, data fusion is performed by using different pieces of sensor data, such that the number of candidate boxes generated is greatly reduced, the quality of the candidate boxes is improved, the identification speed is accelerated, and the reliability of target detection in different environments is improved by means of sensor redundancy.
Inventors:
WEI XIAN (CN)
GUO JIELONG (CN)
LI CHAO (CN)
LAN HAI (CN)
SHAO DONGHENG (CN)
TANG XIAOLIANG (CN)
TANG XUAN (CN)
FENG ZHIYUAN (CN)
GUO JIELONG (CN)
LI CHAO (CN)
LAN HAI (CN)
SHAO DONGHENG (CN)
TANG XIAOLIANG (CN)
TANG XUAN (CN)
FENG ZHIYUAN (CN)
Application Number:
PCT/CN2020/121753
Publication Date:
November 11, 2021
Filing Date:
October 19, 2020
Export Citation:
Assignee:
QUANZHOU EQUIPMENT MANUFACTURING RES INSTITUTE (CN)
International Classes:
G01S13/86; G01S13/931
Foreign References:
| CN111352112A | 2020-06-30 | |||
| CN110794406A | 2020-02-14 | |||
| CN110058597A | 2019-07-26 | |||
| CN101782646A | 2010-07-21 | |||
| CN207636768U | 2018-07-20 | |||
| CN110726990A | 2020-01-24 | |||
| US10408939B1 | 2019-09-10 |
Attorney, Agent or Firm:
SHOUCHUANG JUNHE PATENT AGENT CO., LTD. XIAMEN (CN)
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