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3D target motion analysis method based on visual and radar information fusion

A technology of target motion analysis and radar information, applied in the field of 3D target motion analysis based on fusion of vision and radar information, can solve problems such as unreliability, poor performance, lack of RGB information, etc., and achieve accurate and scientific operation analysis and prediction, reliability The effect of high stability and excellent performance

Active Publication Date: 2019-09-17
HUNAN UNIV
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AI Technical Summary

Benefits of technology

This patented technology uses both visible images from cameras or laser scanners together for accurate movement detection during flight simulation testing. By combining these two types of imagery into one, this system provides quick and precise results that are highly repeatable across different test scenarios without requiring significant modifications over time.

Problems solved by technology

The technical problem addressed by these inventions relates to improving the accuracy and reliability of detecting and navigating 3D obstacles such as cars or pebbles from images captured through cameras mounted at different angles around an axis.

Method used

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  • 3D target motion analysis method based on visual and radar information fusion
  • 3D target motion analysis method based on visual and radar information fusion
  • 3D target motion analysis method based on visual and radar information fusion

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Embodiment Construction

[0045] like figure 1 Shown is a schematic flow chart of the method of the present invention: the 3D target motion analysis method based on vision and radar information fusion provided by the present invention includes the following steps:

[0046] S1. Construct the initial target detection model and train the model to obtain the target detection model; specifically, the initial target detection model uses the Mask-RCNN deep learning detection algorithm, and uses the public BDD100K automatic driving dataset to learn the Mask-RCNN deep learning The detection algorithm is trained;

[0047] S2. Acquiring camera images in real time;

[0048] S3. Using the target detection model obtained in step S1 to detect the camera image obtained in step S2, so as to obtain the 2D frame and target mask of the target;

[0049] S4. Use the multi-target tracking algorithm to track the target to obtain the target id; specifically, the following steps are used to track the target and obtain the tar...

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Abstract

The invention discloses a 3D target motion analysis method based on visual and radar information fusion. The method comprises: constructing and training an initial target detection model to obtain a target detection model; obtaining a camera image in real time; detecting the camera image to obtain a 2D frame and a target mask of the target; tracking the target by using a multi-target tracking algorithm to obtain a target id; acquiring laser radar point cloud data in real time; performing joint calibration on the camera image and the laser radar point cloud data to obtain a coordinate conversion relation; projecting the laser radar point cloud data to an image and obtaining point cloud data; filtering the point cloud data to obtain point cloud data only belonging to the target; performing 3D rectangular frame fitting to obtain 3D coordinates of the target; and calculating the speed and the speed direction of the target, and completing the motion analysis of the 3D target. According to the method, the 3D target can be rapidly, accurately and scientifically operated, analyzed and predicted, and the method is high in reliability, good in accuracy and excellent in performance.

Description

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Claims

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Application Information

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Owner HUNAN UNIV
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