The invention relates to a target-level multi-source sensor asynchronous fusion method and device based on a mining area scene, electronic equipment and a storage medium. The method comprises the following steps: by taking target detection results of three sensors, namely a vision sensor, a laser radar sensor and a millimeter-wave radar sensor, as data sources and adopting a step-by-step fusion strategy, firstly realizing target fusion of the vision sensor and the laser radar sensor according to a coordinate relation of the sensor, and then fusing with target information detected by the millimeter-wave radar sensor; and finally, predicting and updating a target state by adopting an unscented Kalman filtering technology, comparing the target state with a target at a previous moment, and identifying a new target. According to the invention, the target detection results of various sensing systems can be fused, a more comprehensive and stable sensing result is obtained, and the robustness of the sensing module is effectively improved.
本公开是关于一种基于矿区场景的目标级多源传感器异步融合方法、装置、电子设备以及存储介质。其中,该方法包括:以视觉、激光雷达、毫米波雷达三种传感器目标检测结果为数据来源,采用分步融合策略,首先根据传感器坐标关系实现视觉与激光雷达的目标融合,再与毫米波雷达检测到的目标信息进行融合,并利用目标ID信息实现前后帧数据匹配,最后采用无迹卡尔曼滤波技术对目标状态进行预测和更新,并与前一时刻的目标进行对比,识别新的目标。本发明能够融合多种传感系统的目标检测结果,得到更加全面、稳定的感知结果,有效提高了感知模块的鲁棒性。
Target-level multi-source sensor asynchronous fusion method based on mining area scene
一种基于矿区场景的目标级多源传感器异步融合方法
2023-06-23
Patent
Electronic Resource
Chinese
IPC: | G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06V |
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