Radar three-dimensional target detection method and device based on multi-sensor fusion

• Main Authors: CAI YUHENG, WANG XIN, YAN PENGFEI, ZHOU GUAN, LIANG SHUAI, HAO YAN, LI XIANG, ZHOU RUCHEN
• Format: Patent
• Language: Chinese; English
• Published: 11.03.2022
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; TESTING

The invention belongs to the field of target detection, and discloses a radar three-dimensional target detection method and device based on multi-sensor fusion, and the method mainly comprises the steps: obtaining a radar signal, obtaining a radio frequency image of the radar signal, inputting the radio frequency image into an image processing network, and obtaining a pre-confidence map of the radio frequency image; calculating correlation between detection targets in the pre-confidence map to obtain a confidence map of the radio frequency image; acquiring a camera image, inputting the camera image into the image processing network to obtain a pre-confidence map of the camera image, and calculating correlation between detection targets in the pre-confidence map to obtain a confidence map of the camera image; and fusing the confidence map of the radar signal and the confidence map of the camera image to obtain a three-dimensional target detection result. According to the method, semantic information of millime