CN108363985B - Target object perception system testing method and device and computer readable storage medium - Google Patents
Target object perception system testing method and device and computer readable storage medium Download PDFInfo
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- CN108363985B CN108363985B CN201810182029.4A CN201810182029A CN108363985B CN 108363985 B CN108363985 B CN 108363985B CN 201810182029 A CN201810182029 A CN 201810182029A CN 108363985 B CN108363985 B CN 108363985B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
Abstract
The invention discloses a target object perception system testing method, a device and a computer readable storage medium, wherein the method comprises the following steps: acquiring monitoring data acquired by a preset sensor, wherein the preset sensor is carried on a mobile device; outputting a monitoring picture of the monitoring data, and acquiring type information of the target object and relative position information of the target object and the mobile device according to the monitoring data when the target object exists in the monitoring picture; and displaying the type information and the relative position information. According to the invention, as the sensor collects the monitoring data in the actual application scene, after the target object sensing system is tested based on the monitoring data, before the target object sensing system is deployed in the actual application scene, the target object sensing system does not need to be modified, so that the time cost, the research and development cost, the labor cost and the financial cost are saved.
Description
Technical Field
The present invention relates to the field of sensing system testing technologies, and in particular, to a target object sensing system testing method, device and computer readable storage medium.
Background
In recent years, intelligent vehicles have become a hot spot of research in the world vehicle engineering field and a new power for the growth of the automobile industry, and many developed countries incorporate the intelligent vehicles into intelligent traffic systems with respective important development. Automatic driving is a key technology for realizing intelligent automobiles.
In order to implement the automatic driving technique, a sensing system for detecting and recognizing pedestrians, vehicles, etc. on the road needs to be mounted on the automobile. Therefore, the detection capability of the sensing system needs to be verified before the sensing system is actually used.
At present, there are two main sensing system testing techniques: the sensing system is tested by using an actual system and environment, for example, an automobile with the sensing system is driven on an actual road to test the detection function of the sensing system, and the testing mode has the problem of high testing cost; the sensing system is tested by using the test platform, and the problem with the test mode is that the sensing system after the test is finished still needs to take a great deal of time and cost to modify and transplant before the sensing system is deployed in actual use.
Disclosure of Invention
The present invention is directed to a method and apparatus for testing a target object sensing system, and a computer readable storage medium, and aims to solve at least one of the above problems.
In order to achieve the above object, the present invention provides a target object perception system testing method, which includes:
acquiring monitoring data acquired by a preset sensor, wherein the preset sensor is carried on a mobile device;
outputting a monitoring picture of the monitoring data, and acquiring type information of the target object and relative position information of the target object and the mobile device according to the monitoring data when the target object exists in the monitoring picture;
and displaying the type information and the relative position information.
Optionally, before the acquiring the monitoring data acquired by the preset sensor, the method includes:
and acquiring monitoring data through a preset sensor carried on the mobile device, and storing the monitoring data and the corresponding acquisition time in a preset memory in a correlated manner.
Optionally, the outputting the monitoring screen of the monitoring data includes:
and sequentially outputting the monitoring pictures corresponding to the monitoring data according to the sequence of the acquisition time corresponding to the monitoring data.
Optionally, the acquiring, according to the monitoring data, the relative position information of the target object and the mobile device includes:
when the monitoring data consists of independent monitoring data acquired by a plurality of sensors of different types, calculating to obtain basic relative position information of the target object corresponding to each set of independent monitoring data and the mobile device according to each set of independent monitoring data;
and obtaining the current relative position information of the target object and the mobile device through correction calculation according to the basic relative position information of the target object and the mobile device corresponding to each group of independent monitoring data.
Optionally, the displaying the type information and the relative position information includes:
and acquiring the current display position of the target object in the monitoring picture, obtaining a target position based on the current display position, and displaying the type information and the relative position information at the target position.
In addition, in order to achieve the above object, the present invention also provides a target object perception system testing apparatus, including: the system comprises a memory, a processor and a target object perception system testing program which is stored in the memory and can run on the processor, wherein the target object perception system testing program realizes the steps of the target object perception system testing method when being executed by the processor.
In addition, in order to achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon a target object perception system test program which, when executed by a processor, implements the steps of the target object perception system test method as described above.
In the invention, a sensor is carried on a mobile device, monitoring data acquired by the sensor is acquired, a monitoring picture corresponding to the monitoring data is output, when a target object exists in the monitoring picture, the type information of the target object and the relative position information of the target object and the mobile device are acquired according to the monitoring data, and the type information and the relative position information corresponding to the target are displayed. According to the invention, as the sensor collects the monitoring data in the actual application scene, after the target object sensing system is tested based on the monitoring data, before the target object sensing system is deployed in the actual application scene, the target object sensing system does not need to be modified, so that the time cost, the research and development cost, the labor cost and the financial cost are saved.
Drawings
FIG. 1 is a schematic diagram of a device structure of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flowchart of a first embodiment of a target object perception system testing method according to the present invention;
FIG. 3 is a schematic diagram of a scenario in which a sensor collects data according to an embodiment of a method for testing a target object perception system of the present invention;
FIG. 4 is a schematic diagram of a scenario of data processing in an embodiment of a target object perception system testing method according to the present invention;
FIG. 5 is a schematic view of a scenario of the result display in an embodiment of the target object perception system testing method of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
Referring to fig. 1, fig. 1 is a schematic diagram of an apparatus structure of a hardware running environment according to an embodiment of the present invention.
The device of the embodiment of the invention can be a server, a PC, a portable computer and other terminal equipment.
As shown in fig. 1, the apparatus may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
It will be appreciated by those skilled in the art that the device structure shown in fig. 1 is not limiting of the device and may include more or fewer components than shown, or may be combined with certain components, or a different arrangement of components.
As shown in fig. 1, an operating system, a network communication module, a user interface module, and a target object perception system testing program may be included in a memory 1005, which is a computer storage medium.
In the apparatus shown in fig. 1, the network interface 1004 is mainly used for connecting to a background server, and performing data communication with the background server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be configured to call the target object perception system test program stored in the memory 1005, and perform the following operations:
acquiring monitoring data acquired by a preset sensor, wherein the preset sensor is carried on a mobile device;
outputting a monitoring picture of the monitoring data, and acquiring type information of the target object and relative position information of the target object and the mobile device according to the monitoring data when the target object exists in the monitoring picture;
and displaying the type information and the relative position information.
Further, before the acquiring the monitoring data acquired by the preset sensor, the method includes:
and acquiring monitoring data through a preset sensor carried on the mobile device, and storing the monitoring data and the corresponding acquisition time in a preset memory in a correlated manner.
Further, the monitoring screen for outputting the monitoring data includes:
and sequentially outputting the monitoring pictures corresponding to the monitoring data according to the sequence of the acquisition time corresponding to the monitoring data.
Further, the acquiring the relative position information of the target object and the mobile device according to the monitoring data includes:
when the monitoring data consists of independent monitoring data acquired by a plurality of sensors of different types, calculating to obtain basic relative position information of the target object corresponding to each set of independent monitoring data and the mobile device according to each set of independent monitoring data;
and obtaining the current relative position information of the target object and the mobile device through correction calculation according to the basic relative position information of the target object and the mobile device corresponding to each group of independent monitoring data.
Further, the displaying the type information and the relative position information includes:
and acquiring the current display position of the target object in the monitoring picture, obtaining a target position based on the current display position, and displaying the type information and the relative position information at the target position.
Referring to fig. 2, fig. 2 is a flowchart of a first embodiment of a target object perception system testing method according to the present invention.
In one embodiment, a target object perception system testing method includes:
step S10, monitoring data acquired by a preset sensor are acquired, wherein the preset sensor is carried on a mobile device;
in this embodiment, the preset sensor is mounted on a mobile device, which may be an automobile, a robot, or the like. In this embodiment, the preset sensor may include a camera, a radar, an infrared ranging sensor, and the like. In this embodiment, the monitoring data collected by the preset sensor is stored in a memory, which may be a solid state disk, a mechanical hard disk, or a storage cloud, which is not limited herein.
Referring to fig. 3, fig. 3 is a schematic view of a scene of data collected by a sensor in an embodiment of a testing method of a target object perception system according to the present invention.
The sensor comprises a camera and a radar, the sensor is mounted on an automobile, the camera acquires data in real time, and the data is firstly stored in a data cache area A of the camera, such as DDR4 memory, and then stored in a memory C; the radar collects data in real time, and the data firstly enters a data cache area B of the radar, such as DDR4 memory, and then is stored in a memory C. In this embodiment, the data buffer area of the camera and the data buffer area of the radar may be the same DDR4 memory, or may be two independent DDR4 memories, and the memory for storing the data collected by the camera in real time and the memory for storing the data collected by the radar in real time may be the same memory, or may be two independent memories, which is not limited herein.
All the data collected by the sensors stored in the memory, namely the monitoring data, correspond to the time when the data are collected.
In this embodiment, when the memory is a cloud memory, the target object perception system testing device (a computer, a server, or other terminal equipment with computing processing capability) acquires monitoring data from the cloud memory; when the memory is a hard disk, the target object perception system testing device acquires monitoring data from the hard disk.
Step S20, outputting a monitoring picture of the monitoring data, and acquiring type information of the target object and relative position information of the target object and the mobile device according to the monitoring data when the target object exists in the monitoring picture;
in this embodiment, when the sensor is a camera, the monitoring data is data collected by the camera, and the data is video data, and then the corresponding video frames are played according to the sequence of the time when the data is collected. The data is stored in a memory after being collected by a camera, and the process of acquiring the data from the memory by a target object perception system is as follows: data is buffered from memory to cache (e.g., DDR 4) and then from cache to the target object aware system. In the video picture playing process, whether a target object exists in the video picture or not is detected in real time, wherein the target object comprises a person, a vehicle, a lane, a traffic light and the like. Through the image feature recognition technology, when the target object exists in the video picture, the type of the target object is determined, for example, the target object is a person/vehicle/lane, and then the relative position information of the target object and the mobile device is obtained through calculation through a preset target distance estimation model and a related algorithm. In this embodiment, the correlation algorithm may be a passive focusing ranging method, a passive defocusing ranging method, a passive ranging method based on optical flow, a ranging method based on sequential image feature extraction, or the like. Specifically, the selection is performed according to actual needs, and the selection is not limited herein.
Referring to fig. 4, fig. 4 is a schematic view of a scenario of data processing in an embodiment of a target object perception system testing method according to the present invention. In this embodiment, when the sensor is a camera and a radar, the monitoring data is composed of data collected by the camera and data collected by the radar. Based on the data collected by the camera, playing the corresponding video pictures according to the sequence of the time when the data are collected. In the video picture playing process, whether a target object exists in the video picture or not is detected in real time, wherein the target object comprises a person, a vehicle, a lane, a traffic light and the like. When the target object is identified to exist in the video picture, for example, a person is identified, the acquisition time corresponding to the current video picture is acquired, and the relative position information of the target object and the mobile device is calculated through a preset target distance estimation model and a related algorithm, for example, the relative position information is recorded as relative position information 1. The radar data corresponding to the acquisition time is searched in the radar acquired data, and the relative position information of the target object and the mobile device, for example, the relative position information 2 is calculated according to the radar data. In this embodiment, in order to make the obtained relative position information of the target object and the mobile device more accurate, the relative position 1 and the relative position 2 may be combined, and the relative position information of the target object and the mobile device may be obtained through a preset rule. For example, in one embodiment, when the relative position information 1 of the target object and the mobile device calculated according to the data acquired by the camera is (9, 15), the relative position information 2 of the target object and the mobile device calculated according to the data acquired by the radar is (8, 16), and the relative position information of the target object and the mobile device can be obtained by averaging (8.5, 15.5).
And step S30, displaying the type information and the relative position information.
In this embodiment, for example, the relative position information (X, Y) of the target object and the mobile device obtained in step S20 is (X, Y), and the type of the target object is "person", and the relative position information (X, Y) and the type information "person" are displayed. The display position of the relative position information and the type information may be determined based on the display position of the target object on the monitor screen, or may be displayed at a fixed display position. Referring to fig. 5, fig. 5 is a schematic view of a scene of a result display in an embodiment of a target object perception system testing method according to the present invention. In this embodiment, the display position of the target object on the monitoring screen is acquired, a midpoint O in the display position is selected, and five units are shifted rightward based on the position of the midpoint O to be used as the display positions of the relative position information and the type information. And judging whether the type and the relative position information of the displayed target object are correct or not through observation of a detector, if so, testing the target object sensing system, and if the type and the relative position information of the displayed target object are considered to be inaccurate by the tester, debugging the target object sensing system, such as an adjustment algorithm, a replacement sensor and the like.
In this embodiment, a sensor is mounted on a mobile device, monitoring data acquired by the sensor is acquired, a monitoring picture corresponding to the monitoring data is output, and when a target object exists in the monitoring picture, relative position information of the target object and the mobile device is calculated according to the monitoring data, and the relative position information is displayed. According to the embodiment, as the sensor collects the monitoring data in the actual application scene, after the target object sensing system is tested based on the monitoring data, before the target object sensing system is deployed in the actual application scene, the target object sensing system does not need to be modified, so that the time cost, the research and development cost, the labor cost and the financial cost are saved.
Further, in an embodiment of the method for testing a target object sensing system of the present invention, before step S10, the method includes:
and acquiring monitoring data through a preset sensor carried on the mobile device, and storing the monitoring data and the corresponding acquisition time in a preset memory in a correlated manner.
There are two general ways to test the sensing system:
the sensing system is tested by using an actual system and environment, for example, an automobile with the sensing system is driven on an actual road to test the detection function of the sensing system, and the testing mode has the problem of high testing cost; the sensing system is tested by using the test platform, and the problem of the test mode is that the test mode is not an actual use scene, so that the sensing system after the test is finished still needs to take a great deal of time and cost to modify and transplant before the actual use.
In this embodiment, the sensor is mounted on the mobile device as an independent part, and the sensor collects monitoring data, which is data in an actual usage scenario, and stores the monitoring data in the memory in association with the corresponding collection time. The memory may be a solid state disk, a mechanical disk, a cloud memory, etc.
In this embodiment, the data collected by the sensor in the actual use scene is stored in the memory, which is equivalent to testing the target object sensing system based on the actual application scene, so that the target object sensing system after the test is more fit with the actual need, and no additional time and additional cost are required for deploying the target object sensing system on the actual system in the following process.
Further, in an embodiment of the method for testing a target object sensing system of the present invention, outputting a monitoring screen of the monitoring data includes:
and sequentially outputting the monitoring pictures corresponding to the monitoring data according to the sequence of the acquisition time corresponding to the monitoring data.
In this embodiment, when the sensor is a camera, the monitoring data is data collected by the camera, and the data is video data, and then the corresponding video frames are played according to the sequence of the time when the data is collected.
In the embodiment, the monitoring pictures corresponding to the data are output according to the sequence of the time when the data are collected, so that the real-time analysis based on the monitoring data is realized, and the real-time analysis is more suitable for the actual needs.
Further, in an embodiment of the method for testing a target object sensing system of the present invention, the obtaining, according to the monitoring data, relative position information of the target object and the mobile device includes:
when the monitoring data consists of independent monitoring data acquired by a plurality of sensors of different types, calculating to obtain basic relative position information of the target object corresponding to each set of independent monitoring data and the mobile device according to each set of independent monitoring data;
and obtaining the current relative position information of the target object and the mobile device through correction calculation according to the basic relative position information of the target object and the mobile device corresponding to each group of independent monitoring data.
In this embodiment, when the sensor is a camera, the monitoring data is data collected by the camera, and the data is video data, and then the corresponding video frames are played according to the sequence of the time when the data is collected. In the video picture playing process, whether a target object exists in the video picture or not is detected in real time, wherein the target object comprises a person, a vehicle, a lane, a traffic light and the like. Through the image feature recognition technology, when the target object exists in the video picture, the type of the target object is determined, for example, the target object is a person/vehicle/lane, and then the relative position information of the target object and the mobile device is obtained through calculation through a preset target distance estimation model and a related algorithm. In this embodiment, the correlation algorithm may be a passive focusing ranging method, a passive defocusing ranging method, a passive ranging method based on optical flow, a ranging method based on sequential image feature extraction, or the like. Specifically, the selection is performed according to actual needs, and the selection is not limited herein.
Referring to fig. 4, fig. 4 is a schematic view of a scenario of data processing in an embodiment of a target object perception system testing method according to the present invention. In this embodiment, when the sensor is a camera and a radar, the monitoring data is composed of data collected by the camera and data collected by the radar. Based on the data collected by the camera, playing the corresponding video pictures according to the sequence of the time when the data are collected. In the video picture playing process, whether a target object exists in the video picture or not is detected in real time, wherein the target object comprises a person, a vehicle, a lane, a traffic light and the like. When the target object is identified to exist in the video picture, for example, a person is identified, the acquisition time corresponding to the current video picture is acquired, and the relative position information of the target object and the mobile device is calculated through a preset target distance estimation model and a related algorithm, for example, the relative position information is recorded as relative position information 1. The radar data corresponding to the acquisition time is searched in the radar acquired data, and the relative position information of the target object and the mobile device, for example, the relative position information 2 is calculated according to the radar data. In this embodiment, in order to make the obtained relative position information of the target object and the mobile device more accurate, the relative position 1 and the relative position 2 may be combined, and the relative position information of the target object and the mobile device may be obtained through a preset rule. For example, in one embodiment, when the relative position information 1 of the target object and the mobile device calculated according to the data acquired by the camera is (9, 15), the relative position information 2 of the target object and the mobile device calculated according to the data acquired by the radar is (8, 16), and the relative position information of the target object and the mobile device can be obtained by averaging (8.5, 15.5).
In this embodiment, when there are multiple sensors and the types of the sensors are different, the relative position information of the target object and the mobile device is obtained by calculation through the data collected by each sensor, and then the final relative position information of the target object and the mobile device is obtained by correction calculation according to all the data obtained by calculation, so that the relative position information of the target object and the mobile device obtained by calculation is more accurate.
Further, in an embodiment of the method for testing a target object sensing system of the present invention, the displaying the type information and the relative position information includes:
and acquiring the current display position of the target object in the monitoring picture, obtaining a target position based on the current display position, and displaying the type information and the relative position information at the target position.
In this embodiment, for example, the relative position information (X, Y) of the target object and the mobile device obtained in step S20 is (X, Y), and the type of the target object is "person", and the relative position information (X, Y) and the type information "person" are displayed. The display position of the relative position information and the type information may be determined based on the display position of the target object on the monitor screen, or may be displayed at a fixed display position. Referring to fig. 5, fig. 5 is a schematic view of a scene of a result display in an embodiment of a target object perception system testing method according to the present invention. In this embodiment, the display position of the target object on the monitoring screen is acquired, a midpoint O in the display position is selected, and five units are shifted rightward based on the position of the midpoint O to be used as the display positions of the relative position information and the type information. And judging whether the type and the relative position information of the displayed target object are correct or not through observation of a detector, if so, testing the target object sensing system, and if the type and the relative position information of the displayed target object are considered to be inaccurate by the tester, debugging the target object sensing system, such as an adjustment algorithm, a replacement sensor and the like.
In this embodiment, the type information and the relative position information are displayed, which is helpful for a tester to determine whether the target object sensing system can pass the test, and the target object sensing system can pass the test only when the tester considers that the type information and the relative position information are correct information, thereby ensuring the detection capability of the target object sensing system.
In addition, the embodiment of the invention also provides a computer readable storage medium, wherein the computer readable storage medium is stored with a target object perception system testing program, and the target object perception system testing program realizes the steps of the target object perception system testing method when being executed by a processor.
The specific embodiments of the computer readable storage medium of the present invention are substantially the same as the embodiments of the target object perception system testing method described above, and will not be described herein.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above, comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (7)
1. The target object perception system testing method is characterized by comprising the following steps of:
collecting monitoring data in an actual application scene through a preset sensor carried on the mobile device, and storing the monitoring data and the corresponding collecting time in a preset memory in an associated manner;
acquiring monitoring data acquired by a preset sensor, wherein the monitoring data consists of independent monitoring data acquired by a plurality of sensors of different types, and the preset sensor is carried on a mobile device;
outputting a monitoring picture of the monitoring data, and calculating to obtain basic relative position information of the target object corresponding to each group of independent monitoring data and the mobile device according to each group of independent monitoring data when the target object exists in the monitoring picture;
acquiring type information of the target object according to the monitoring data, and acquiring current relative position information of the target object and the mobile device through correction calculation according to basic relative position information of the target object and the mobile device corresponding to each group of independent monitoring data;
displaying the type information and the relative position information so as to judge whether the type information and the relative position information are accurate or not and judge whether the target object perception system needs to be debugged or not;
and after the target object sensing system is tested based on the monitoring data, deploying the target object sensing system in an actual application scene.
2. The method of claim 1, wherein outputting the monitor screen of the monitor data comprises:
and sequentially outputting the monitoring pictures corresponding to the monitoring data according to the sequence of the acquisition time corresponding to the monitoring data.
3. The method of claim 1, wherein the displaying the type information and the relative position information comprises:
and acquiring the current display position of the target object in the monitoring picture, obtaining a target position based on the current display position, and displaying the type information and the relative position information at the target position.
4. A target object perception system testing apparatus, characterized in that the target object perception system testing apparatus comprises: the system comprises a memory, a processor and a target object perception system test program which is stored in the memory and can run on the processor, wherein the target object perception system test program realizes the following steps when being executed by the processor:
collecting monitoring data in an actual application scene through a preset sensor carried on the mobile device, and storing the monitoring data and the corresponding collecting time in the memory in a correlated manner;
acquiring monitoring data acquired by a preset sensor, wherein the monitoring data consists of independent monitoring data acquired by a plurality of sensors of different types, and the preset sensor is carried on a mobile device;
outputting a monitoring picture of the monitoring data, and calculating to obtain basic relative position information of the target object corresponding to each group of independent monitoring data and the mobile device according to each group of independent monitoring data when the target object exists in the monitoring picture;
acquiring type information of the target object according to the monitoring data, and acquiring current relative position information of the target object and the mobile device through correction calculation according to basic relative position information of the target object and the mobile device corresponding to each group of independent monitoring data;
displaying the type information and the relative position information so as to judge whether the type information and the relative position information are accurate or not and judge whether the target object perception system needs to be debugged or not;
and after the target object sensing system is tested based on the monitoring data, deploying the target object sensing system in an actual application scene.
5. The object perception system testing apparatus of claim 4, wherein the monitor screen outputting the monitor data comprises:
and sequentially outputting the monitoring pictures corresponding to the monitoring data according to the sequence of the acquisition time corresponding to the monitoring data.
6. The target object perception system testing apparatus of claim 4, wherein the target object perception system testing program when executed by the processor further implements the steps of the target object perception system testing method of claim 4.
7. A computer readable storage medium, wherein a target object perception system testing program is stored on the computer readable storage medium, which when executed by a processor, implements the steps of the target object perception system testing method of any one of claims 1 to 3.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810182029.4A CN108363985B (en) | 2018-03-06 | 2018-03-06 | Target object perception system testing method and device and computer readable storage medium |
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| CN201810182029.4A CN108363985B (en) | 2018-03-06 | 2018-03-06 | Target object perception system testing method and device and computer readable storage medium |
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| Publication Number | Publication Date |
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| CN108363985A CN108363985A (en) | 2018-08-03 |
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