Vehicle fusion positioning method based on visual sensor and millimeter wave radar
The invention relates to the technical field of sensor positioning, in particular to a vehicle fusion positioning method based on a visual sensor and a millimeter-wave radar, which comprises the following steps: firstly, scanning surrounding environment scene information by using the visual sensor a...
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Format: | Patent |
Sprache: | chi ; eng |
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Zusammenfassung: | The invention relates to the technical field of sensor positioning, in particular to a vehicle fusion positioning method based on a visual sensor and a millimeter-wave radar, which comprises the following steps: firstly, scanning surrounding environment scene information by using the visual sensor and the millimeter-wave radar, and storing a distance and speed information matrix in an embedded platform; the distance and speed information matrixes generated by the visual sensor and the millimeter wave radar in the sensing step are calculated to extract an information matrix of an interested target vehicle; and finally, based on a multi-sensor fusion algorithm, the extracted target vehicle information is fused for accurate positioning. Based on a strong tracking unscented Kalman filter (STUKF) algorithm, data of a visual sensor and data of a millimeter wave radar are fused, and good positioning precision and robustness are achieved for positioning of a target vehicle under the strong transient condition. And th |
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