Millimeter wave radar and video monitoring camera combined calibration method

Abstract

The invention provides a millimeter wave radar and video monitoring camera combined calibration method. According to the invention, the video detection technology is utilized to accurately identify the types of traffic participants, and the millimeter wave radar detection technology is combined to monitor the target in the positioning range in real time, so that the two technologies complement each other. A multi-sensor fusion model is utilized to establish an accurate coordinate transformation matrix among a radar coordinate system, a video sensor coordinate system, an image coordinate system and a pixel coordinate system, and spatial fusion of multi-sensor data is realized.

Description

technical field [0001] The invention belongs to the field of traffic road condition supervision, and in particular relates to a joint calibration method of a millimeter-wave radar and a video monitoring camera. Background technique [0002] Traffic road condition supervision mainly obtains traffic flow data through video sensors, geomagnetic sensors, etc., and then conducts traffic behavior detection and provides traffic management decision support, so as to achieve the purpose of traffic control. At present, the traffic behavior detection method is mainly based on the video trajectory extraction method, which is easily affected by the environment such as weather conditions, illumination changes, and dynamic background scenes. Similarly, the geomagnetic and geosensing coils also have serious defects: difficult construction and installation, easy to lose electricity, easy to be rolled over by heavy vehicles, short working life (1-3 years), difficult and costly to maintain lat...

AI Technical Summary

Problems solved by technology

At present, traffic behavior detection methods are mainly based on video trajectory extraction methods, which are easily affected by weather conditions, lighting changes, dynamic background scenes and other environments.

Similarly, the geomagnetic and geosensing coils also have serious defects: difficult construction and installation, easy to lose electricity, easy to be rolled over by heavy vehicles, short working life (1-3 years), difficult and costly to maintain later, small monitoring range, etc.

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