The invention provides a moving object detection method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining the point cloud data and image data of an environment where a vehicle is located, and enabling the image data to comprise a plurality of continuous frames of images; feature recognition is performed according to the point cloud data, and object semantic information corresponding to a plurality of objects included in the environment where the vehicle is located is determined; performing optical flow tracking on the multi-frame image, and determining reference matching point pairs corresponding to the plurality of objects in the multi-frame image; classifying the reference matching point pairs corresponding to the plurality of objects according to the object semantic information corresponding to the plurality of objects, and determining a plurality of first matching point pairs and a plurality of second matching point pairs; and according to the wheel speedometer information of the vehicle and the plurality of first matching point pairs, screening out a target matching point pair corresponding to the moving object from the plurality of second matching point pairs. According to the invention, the detection accuracy of the dynamic object is ensured.

    本申请提供了一种移动物体的检测方法、装置、电子设备及存储介质,该方法包括:获取车辆所在环境的点云数据和图像数据,其中,图像数据包括连续的多帧图像;根据点云数据进行特征识别,确定车辆所在环境包括的多个物体各自对应的物体语义信息;对多帧图像进行光流跟踪,在多帧图像中确定多个物体各自对应的参考匹配点对;根据多个物体各自对应的物体语义信息对多个物体各自对应的参考匹配点对进行分类,确定多个第一匹配点对和多个第二匹配点对;根据车辆的轮速计信息和多个第一匹配点对,从多个第二匹配点对中筛选出移动物体对应的目标匹配点对。本申请保证了对动态对象的检测准确性。


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Moving object detection method and device, electronic equipment and storage medium


    Weitere Titelangaben:

    移动物体的检测方法、装置、电子设备及存储介质


    Beteiligte:
    CHEN SONGMING (Autor:in) / SONG XIAOXIAO (Autor:in) / XIA XIN (Autor:in) / WANG MINGMING (Autor:in)

    Erscheinungsdatum :

    27.05.2025


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G06V / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01S RADIO DIRECTION-FINDING , Funkpeilung



    MOVING OBJECT DETECTION DEVICE, MOVING OBJECT DETECTION METHOD, SYSTEM, AND STORAGE MEDIUM

    ARAKI SATORU / FUJIMOTO GAKUYO / TSUCHIYA MASAMITSU | Europäisches Patentamt | 2023

    Freier Zugriff

    MOVING OBJECT CONTROL DEVICE, MOVING OBJECT CONTROL METHOD, AND STORAGE MEDIUM

    MAHAJAN ADITYA / KOMORI KENJI / MIURA AYA | Europäisches Patentamt | 2022

    Freier Zugriff

    Moving object control device, moving object control method, and storage medium

    MAHAJAN ADITYA / KOMORI KENJI / MIURA AYA | Europäisches Patentamt | 2024

    Freier Zugriff

    Static object detection method and device, storage medium and electronic equipment

    LIU JUNLIANG / CHEN YE / ZHOU XINRU et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    Tracking method and device of moving object in traffic network, electronic equipment and storage medium

    MA JUNJIE / XU YIMIN / LI KAI et al. | Europäisches Patentamt | 2023

    Freier Zugriff