摘要
提出一种基于毫米波雷达和机器视觉传感器信息融合的障碍物检测方法。首先对毫米波雷达和摄像头进行联合标定,实现雷达与图像数据的时空同步,将雷达探测到的目标位置准确投影到图像中,进而提出一种生成雷达目标感兴趣区域的方法,同时对图像信息运用帧差法,检测图像中运动的物体,得到检测区域。最后将雷达检测区域与机器视觉检测区域进行对比,计算重合度,并根据重合度初步区分目标为行人或车辆。实验结果表明,该方法能够很好地实现毫米波雷达与机器视觉联合检测障碍物,弥补了单一传感器在障碍物检测中的不足。
A method of obstacle detection based on information fusion of millimeter wave radar and machine vision sensor was proposed. Firstly, the millimeter wave radar and camera calibration, image and radar realize spatiotemporal data synchronization, the target position was accurate projection detected by radar images, and then a method of generating radar target region of interest, and the image information using the frame difference method, image detection of moving objects, detection area was put forward. Finally, the radar detection area was compared with the machine vision detection area. The coincidence degree was calculated, and the target was divided into pedestrian or vehicle according to coincidence degree. The experimental results show that the method can detect the obstacle of millimeter wave radar and machine vision well, and make up for the shortage of single sensor in obstacle detection.
出处
《物联网学报》
2017年第2期76-83,共8页
Chinese Journal on Internet of Things
基金
江苏省科技厅基金资助项目(No.BY2015039-12
No.KYLX_1231)~~
关键词
智能驾驶
毫米波雷达
机器视觉
信息融合
intelligent driving
millimeter wave radar
machine vision
information fusion
