Target detection method based on fusion of prior positioning of millimeter-wave radar and visual feature
US11398097B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 13, 2021 |
| Grant date | Jul 26, 2022 |
| Priority date | — |
| Expiry date | Dec 13, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30261
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A target detection method based on the fusion of prior positioning of a millimeter-wave radar and a visual feature includes: simultaneously obtaining, based on the millimeter-wave radar and a vehicle-mounted camera after being calibrated, point cloud data of the millimeter-wave radar and a camera image; performing spatial 3D coordinate transformation on the point cloud data to project transformed point cloud data onto a camera plane; generating a plurality of anchor samples based on projected point cloud data according to a preset anchor strategy, and obtaining a final anchor sample based on a velocity-distance weight of each candidate region; fusing RGB information of the camera image and intensity information of an RCS in the point cloud data to obtain a feature of the final sample; and inputting the feature of the final anchor sample into a detection network to generate category and position information of a target in a scenario.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.