A 3D vehicle detection method based on multi-sensor fusion
A multi-sensor fusion and vehicle detection technology, which is applied in the directions of instruments, calculations, character and pattern recognition, etc., can solve problems such as poor robustness, low real-time performance, and long detection distance, so as to improve real-time performance, reduce calculation amount, The effect of improving accuracy
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[0042] The present invention will be further described below in conjunction with accompanying drawing.
[0043] Vehicle detection is an extremely critical part of the autonomous vehicle environment perception system. This invention proposes a 3D vehicle detection method based on multi-sensor fusion. The detection flow chart is as follows figure 1 As shown, the details are as follows:
[0044] (1) Collect point cloud data through lidar, and camera to collect RGB image information, and preprocess the collected point cloud, and input the bird's eye view (BEV) of the point cloud as point cloud data, which is the point cloud data It is obtained by projecting to the 2D grid on the ground (Z=0). In order to obtain more detailed height information, take the lidar position as the center point, take the left and right positions of BEV [-40,40]m, and the front position [0,70] m. And according to the actual height of the car, take the Z-axis [0, 2.5]m, divide the point cloud into 5 hei...
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