SIA OpenIR  > 智能检测与装备研究室
Alternative TitleResearch of pedestrian detection based on fusion of radar and vision
Thesis Advisor杜劲松
Keyword毫米波雷达 视觉 数据融合 行人检测 似物性
Call NumberTP391.41/G96/2018
Degree Discipline模式识别与智能系统
Degree Name硕士
Degree Grantor中国科学院沈阳自动化研究所
Place of Conferral沈阳


Other Abstract

This paper proposes a method for pedestrian detection based on fusion of millimeter wave radar and vision to realize pedestrian detection and obtain its relative dynamic information. The main research work is as following: The characters of pedestrian signal detected by millimeter wave radar is studied and analysed.To deal with the discontinuous of pedestrian radar signal and environment noise problem caused by low detection threshold, a algorithm based on near neighbor intra-frame cluster and inter-frames track is designed to extract valid pedestrian signal. Learn the mechanism and principle of image recognition, several kinds pedestrian recognition features are introduced and analysed. To deal with the low detection efficiency caused by traditional sliding window detection algorithm, Objectness estimation is applied to the visual detection process and some improvement is made. This algorithm is able to produce some candidate boxes which maybe contain a potential target. At last, HOG features are extracted from these candidate boxes and support vector machine is employed to realize the final pedestrian recognition quickly. For space-time fusion of radar and vision data, the camera image model and calibration technology are studied. The radar-camera coordinate system is established. Least-squares fitting method is adopted to obtain the space transformation matrix.Then space alignment target is achieved through transformation matrix. Based on the projection of radar points on image and target’s dynamic infomation, potential target area of image and its size are determined automatically. In addition, to cope with phenomenon of miss detection caused by the fitting deviation, a progressive dynamic search strategy for the region of interest is proposed. Experiment results show that this fusion mechanism can effectively capture the visual candidate target area. Finally, the proposed visual recognition algorithm is applied to the potential target area produced by above space matching algorithm to realize the final task, experimental results show that the proposed fusion detection algorithm has the ability to detect human and acquire its position information.

Contribution Rank1
Document Type学位论文
Recommended Citation
GB/T 7714
郭晓鹏. 基于雷达和视觉融合的行人检测方法研究[D]. 沈阳. 中国科学院沈阳自动化研究所,2018.
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基于雷达和视觉融合的行人检测方法研究.p(3360KB)学位论文 开放获取CC BY-NC-SAApplication Full Text
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