CN113253254A - 用于多个对象跟踪的成像和雷达融合 - Google Patents
用于多个对象跟踪的成像和雷达融合 Download PDFInfo
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- CN113253254A CN113253254A CN202110111330.8A CN202110111330A CN113253254A CN 113253254 A CN113253254 A CN 113253254A CN 202110111330 A CN202110111330 A CN 202110111330A CN 113253254 A CN113253254 A CN 113253254A
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- 238000003384 imaging method Methods 0.000 title claims abstract description 102
- 230000004927 fusion Effects 0.000 title abstract description 23
- 238000000034 method Methods 0.000 claims abstract description 47
- 238000003062 neural network model Methods 0.000 claims abstract description 11
- 238000001514 detection method Methods 0.000 claims abstract description 10
- 239000011159 matrix material Substances 0.000 claims description 58
- 238000010801 machine learning Methods 0.000 claims description 25
- 230000003287 optical effect Effects 0.000 claims description 8
- 238000001429 visible spectrum Methods 0.000 claims description 6
- 238000013528 artificial neural network Methods 0.000 description 8
- 238000012935 Averaging Methods 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000013527 convolutional neural network Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000012545 processing Methods 0.000 description 1
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- 230000004044 response Effects 0.000 description 1
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Images
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
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- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
- G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
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- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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- G01S7/417—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section involving the use of neural networks
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- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- G—PHYSICS
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- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
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- Bioinformatics & Computational Biology (AREA)
- Evolutionary Biology (AREA)
- General Engineering & Computer Science (AREA)
- Traffic Control Systems (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Description
Claims (20)
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US202062966604P | 2020-01-28 | 2020-01-28 | |
US62/966,604 | 2020-01-28 |
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CN113253254A true CN113253254A (zh) | 2021-08-13 |
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CN202110111330.8A Pending CN113253254A (zh) | 2020-01-28 | 2021-01-27 | 用于多个对象跟踪的成像和雷达融合 |
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US (1) | US11774582B2 (zh) |
EP (1) | EP3859386B1 (zh) |
CN (1) | CN113253254A (zh) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114609634A (zh) * | 2022-03-21 | 2022-06-10 | 电子科技大学 | 一种基于阴影的交互式多模型下的视频sar多目标跟踪方法 |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP4116738A4 (en) * | 2020-03-31 | 2024-03-20 | Bitsensing Inc. | RADAR DEVICE AND METHOD FOR CLASSIFYING OBJECTS |
US11618480B2 (en) | 2020-11-18 | 2023-04-04 | Aptiv Technologies Limited | Kurtosis based pruning for sensor-fusion systems |
EP4012603B1 (en) * | 2020-12-10 | 2023-12-06 | Aptiv Technologies Limited | Method for classifying a tracked object |
CN114187328B (zh) * | 2022-02-15 | 2022-07-05 | 智道网联科技(北京)有限公司 | 一种物体检测方法、装置和电子设备 |
CN115184917B (zh) * | 2022-09-13 | 2023-03-10 | 湖南华诺星空电子技术有限公司 | 一种融合毫米波雷达与相机的区域目标跟踪方法 |
Citations (5)
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CN105083161A (zh) * | 2014-05-09 | 2015-11-25 | 本田技研工业株式会社 | 物体识别装置以及物体识别方法 |
CN107238834A (zh) * | 2016-01-19 | 2017-10-10 | 德尔福技术有限公司 | 用于自动车辆的使用雷达/视觉融合的目标跟踪*** |
US20190147372A1 (en) * | 2017-11-15 | 2019-05-16 | Uber Technologies, Inc. | Systems and Methods for Object Detection, Tracking, and Motion Prediction |
US10451712B1 (en) * | 2019-03-11 | 2019-10-22 | Plato Systems, Inc. | Radar data collection and labeling for machine learning |
CN110389582A (zh) * | 2018-04-18 | 2019-10-29 | 百度(美国)有限责任公司 | 利用多个线索跟踪对象 |
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CN105628951B (zh) * | 2015-12-31 | 2019-11-19 | 北京迈格威科技有限公司 | 用于测量对象的速度的方法和装置 |
US11138745B2 (en) * | 2018-04-30 | 2021-10-05 | Uatc, Llc | Object association for autonomous vehicles |
US11454975B2 (en) * | 2018-06-28 | 2022-09-27 | Uatc, Llc | Providing actionable uncertainties in autonomous vehicles |
-
2021
- 2021-01-14 US US17/149,588 patent/US11774582B2/en active Active
- 2021-01-27 EP EP21153654.5A patent/EP3859386B1/en active Active
- 2021-01-27 CN CN202110111330.8A patent/CN113253254A/zh active Pending
Patent Citations (5)
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CN105083161A (zh) * | 2014-05-09 | 2015-11-25 | 本田技研工业株式会社 | 物体识别装置以及物体识别方法 |
CN107238834A (zh) * | 2016-01-19 | 2017-10-10 | 德尔福技术有限公司 | 用于自动车辆的使用雷达/视觉融合的目标跟踪*** |
US20190147372A1 (en) * | 2017-11-15 | 2019-05-16 | Uber Technologies, Inc. | Systems and Methods for Object Detection, Tracking, and Motion Prediction |
CN110389582A (zh) * | 2018-04-18 | 2019-10-29 | 百度(美国)有限责任公司 | 利用多个线索跟踪对象 |
US10451712B1 (en) * | 2019-03-11 | 2019-10-22 | Plato Systems, Inc. | Radar data collection and labeling for machine learning |
Non-Patent Citations (1)
Title |
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VENKATA PATHURI BHUVANA 等: "Integrated Camera and Radar Tracking using Multi-Model Cubature Kalman Filter", 《2019 IEEE GLOBAL CONFERENCE ON SIGNAL AND INFORMATION PROCESSING》, 11 November 2019 (2019-11-11), pages 1 - 5, XP033696327, DOI: 10.1109/GlobalSIP45357.2019.8969484 * |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114609634A (zh) * | 2022-03-21 | 2022-06-10 | 电子科技大学 | 一种基于阴影的交互式多模型下的视频sar多目标跟踪方法 |
CN114609634B (zh) * | 2022-03-21 | 2023-04-25 | 电子科技大学 | 一种基于阴影的交互式多模型下的视频sar多目标跟踪方法 |
Also Published As
Publication number | Publication date |
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US11774582B2 (en) | 2023-10-03 |
EP3859386A1 (en) | 2021-08-04 |
EP3859386B1 (en) | 2023-08-23 |
US20210231794A1 (en) | 2021-07-29 |
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