【作者】 连辉锦； 裴晓飞； 陈祯福； 杨波；

【Author】 Lian Huijin;Pei Xiaofei;Chen Zhenfu;Yang Bo;Wuhan University of Technology;

【机构】 武汉理工大学；

【摘要】 本文针对车辆前方目标的识别与跟踪,提出一种融合雷达与视觉信息的目标检测算法。文中首先介绍了毫米波雷达的目标检测算法和摄像头目标数据的采集与处理,通过时间补偿的方法将摄像头目标数据同步到雷达,并采用限幅均值滤波法对原始数据进行滤波,然后再基于规则融合雷达与摄像头的目标信息。经实验验证,本文提出的融合方法可以有效地检测和跟踪车辆前方目标。更多还原

【Abstract】 In this paper,a target detection algorithm combining radar and vision sensor is proposed aiming at identification and tracking of the target in front of ego-vehicle.Firstly,the target detection algorithm of millimeter wave radar and the acquisition and processing of camera target data are introduced.The target data of camera is synchronized to radar by time compensation method,and the original data is filtered by amplitude-limiting mean filtering method.And then the target information of radar and camera are fused based on the rules.The experimental results show that the fusion method proposed in this paper can effectively detect and track the target in front of ego-vehicle.更多还原