Single-line laser radar and monocular camera fusion detection method

• Main Authors: CHEN LONG, WANG ZHENG, YUAN YUAN, YAN AZE, HOU PENGCHENG
• Format: Patent
• Language: Chinese; English
• Published: 19.04.2024
• Subjects: CALCULATING; COMPUTING; COUNTING; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; PHYSICS

The invention discloses a single-line laser radar and monocular camera fusion detection method, and the method comprises the steps: obtaining the distance and position information of a target object based on a single-line laser radar, and obtaining the class information of the target object based on a camera; then, calculating an external parameter calibration matrix of the two types of sensors, and projecting an image bounding box into the point cloud image according to the matrix; and finally, calculating an IOU value of an overlapping region of the two types of detection results, and fusing the two types of detection results according to a preset threshold value. According to the technical scheme, the defects of a single sensor sensing technology are effectively overcome, the three-dimensional information of the target object is obtained after fusion processing is conducted on the image and the point cloud data, and on one hand, the complexity of an existing three-dimensional sensing algorithm based on a l