Title:
MULTI-RADAR DATA FUSION OBSTACLE DETECTION METHOD, AND SYSTEM
Document Type and Number:
WIPO Patent Application WO/2023/232165
Kind Code:
A1
Abstract:
Disclosed is a multi-radar data fusion obstacle detection method and a system. The method comprises: step S1, obtaining multi-radar data; step S2, converting a lidar point cloud in the multi-radar data into a matrix-format point cloud depth map; step S3, calculating point cloud slope features on the point cloud depth map, obtaining non-ground feature point cloud clusters according to a connected component search, taking point cloud clusters where the number of feature point clouds in a single connected component exceeds a threshold as obstacle point cloud clusters, and calculating the ground height, connectivity, and surface dispersion of the non-ground feature point cloud clusters; step S4, converting the coordinates of millimeter wave radar obstacle detection data in the multi-radar data into a lidar coordinate system, and calculating an associated feature value of a single lidar according to the distance and/or intersection-over-union between a lidar target and a millimeter wave radar target; and step S5, calculating the probability that a point cloud cluster is a dust point cloud cluster, and obtaining point cloud cluster positions of non-dust obstacles.
Inventors:
XIE GUOTAO (CN)
CAO CHANG (CN)
QIN XIAOHUI (CN)
XU BIAO (CN)
QIN ZHAOBO (CN)
WANG XIAOWEI (CN)
QIN HONGMAO (CN)
BIAN YOUGANG (CN)
HU MANJIANG (CN)
DING RONGJUN (CN)
CAO CHANG (CN)
QIN XIAOHUI (CN)
XU BIAO (CN)
QIN ZHAOBO (CN)
WANG XIAOWEI (CN)
QIN HONGMAO (CN)
BIAN YOUGANG (CN)
HU MANJIANG (CN)
DING RONGJUN (CN)
Application Number:
PCT/CN2023/109851
Publication Date:
December 07, 2023
Filing Date:
July 28, 2023
Export Citation:
Assignee:
WUXI INTELLIGENT CONTROL RES INSTITUTE HNU (CN)
International Classes:
G01S13/931; G01S7/36; G01S7/41; G01S7/48; G01S7/495; G01S13/86; G01S17/931; G06V10/762; G06V10/80; G06V20/58
Foreign References:
| CN114994684A | 2022-09-02 | |||
| CN111880196A | 2020-11-03 | |||
| CN113296120A | 2021-08-24 | |||
| CN111537994A | 2020-08-14 | |||
| CN112083441A | 2020-12-15 |
Attorney, Agent or Firm:
BEIJING IPWIN IP AGENCY (PARTNERSHIP) (CN)
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