Target detection system and method based on multiple views of laser radar

• Main Authors: YU GUIZHEN, LIU RUNSEN, ZHANG JUNJIE, ZHANG JUN, WANG ZHANGYU, WANG LIYUN, SUN SHENGDI
• Format: Patent
• Language: Chinese; English
• Published: 29.03.2024
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; CALCULATING; COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS; COMPUTING; COUNTING; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; TESTING

The invention relates to a target detection system and method based on multiple views of a laser radar, belongs to the technical field of automatic driving, and solves the problem of low detection precision caused by the influence of ground gradient and laser radar angle on an obstacle detection frame facing a mining area scene in the prior art. According to the invention, the feature fusion module is utilized to convert the side view point cloud features of the laser radar point cloud data from side view to overlook, and the converted side view point cloud features and overlook point cloud features are subjected to feature splicing, so that the semantic information, especially the high semantic information, of an overlook view can be enriched, and the detection precision of a three-dimensional target can be improved; a branch for generating a height thermodynamic diagram is added to a detection head module, and a bilinear difference method is adopted to match with a central point of a 2D detection frame, so