火力与指挥控制2018，Vol.43Issue(6)：57-61,65,6.DOI:10.3969/j.issn.1002-0640.2018.06.011
视觉与激光雷达信息融合的目标领航车识别方法
Target Recognition Method Based on Fusion of Vision and LIDAR Information
摘要
Abstract
In order to improve the accuracy and real-time of vehicle detection and recognition in unmanned ground vehicle (UGV)Leader-follower Systems,a detection and recognition method of the pilot vehicle based on LIDAR and visual camera information fusion is proposed. Before the recognition of the vehicle system,it is necessary to calibration two kinds of sensors. Determining the relationship between the three coordinates of the LIDAR coordinates,the camera coordinates and the vehicle body coordinates. In the process of vehicle identification,the nearest neighbor clustering analysis is performed on the LIDAR data,and the target is selected based on the clustering result. According to the conversion relation between the LIDAR data and the camera image,Determine the region of interest of the hypothetical target in the image. Then the symmetry feature and corner features of the region of interest are extracted,and the multi-feature cascade classification method is used to identify whether the hypothetical target is the target pilot vehicle. Finally,according to the result of verification of the ROI,it is fed back into the LIDAR data to locate the distance and angle of the pilot vehicle with respect to the following vehicle. The experimental results show that the proposed algorithm has good adaptability to the environment,and makes up for the deficiency of single sensor in vehicle detection and recognition.关键词
军用地面无人平台/传感器信息融合/激光雷达/摄像机/目标检测Key words
military unmanned ground vehicle/sensor information fusion/LIDAR/camera1/target detection分类
信息技术与安全科学引用本文复制引用
贾子永,任国全,李冬伟,程子阳..视觉与激光雷达信息融合的目标领航车识别方法[J].火力与指挥控制,2018,43(6):57-61,65,6.基金项目
武器装备预研基金资助项目(714005798) （714005798）
