CN108845314A - A kind of multi-mode object detection method and system - Google Patents
A kind of multi-mode object detection method and system Download PDFInfo
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- CN108845314A CN108845314A CN201811086611.7A CN201811086611A CN108845314A CN 108845314 A CN108845314 A CN 108845314A CN 201811086611 A CN201811086611 A CN 201811086611A CN 108845314 A CN108845314 A CN 108845314A
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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
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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
- G01S13/865—Combination of radar systems with lidar systems
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V11/00—Prospecting or detecting by methods combining techniques covered by two or more of main groups G01V1/00 - G01V9/00
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Abstract
The present invention discloses a kind of multi-mode object detection method and system, includes the following steps：（1）Sensor module acquires the original signal of external environment in real time；（2）The original signal that preprocessing module acquires sensor module is handled, and obtains digital signal；（3）Data analysis module is to digital signal identification and extracts characteristic value；（4）Information Fusion Module carries out matching and fusion treatment to digital signal characteristic value, forms Real-time Two-dimensional or three-dimensional exterior ambient image, and stored and exported.The present invention acquires external environmental information by the way that multiple sensors are arranged in real time and merges, and is formed complementary between data, carries out two dimension or three-dimensional Reconstruction to external environment, improves the accuracy of perception external environment and comprehensive；The authenticity and reliability of data are increased, can be under more complex environment, more accurate environment-identification target improves the Stability and adaptability of environment detection.
Description
Technical field
The invention belongs to artificial intelligence and automatic Pilot technical fields, and in particular to a kind of multi-mode object detection method and
System.
Background technique
For artificial intelligence and automatic vehicle control system, the importance of sensor and environment perception technology increasingly enhances.
Currently, the sensor technology being widely used in artificial intelligence and automatic driving be divided into it is following several：
（1）TOF measurement imaging sensor mainly includes laser radar, millimetre-wave radar, ultrasonic radar.Pass through launch wavelength
Different light wave or sound wave, the echo-signal for then acquiring transmitted wave obtain distance, angle, reflected intensity, the speed etc. of target
Information generates target multidimensional degree image.Under the complicated weather environment such as sleet night, recognition effect decaying is smaller, by light line
Part influence is smaller, but can not perceive the object state of pedestrian or object.
（2）Visible light, near-infrared camera, vehicle-mounted camera are the bases realized numerous early warning, identify class ADAS function,
Can identify the basic status attribute of the objects such as length, width and height and color, but be constrained to environment, illumination, weather are affected,
Especially under night, full backlight, dense fog, rain and snow weather environment, the Function of camera will receive considerable restraint.
（3）Far infrared imaging sensor can be used for the heat distributed naturally between detected target object using Far-infrared ray optical wave
Difference is measured, and thermal data is converted into image.Under night, dense fog, rain and snow weather environment, it is easier identification target, but
Being can not ranging.
In summary, different types of sensor has the advantages that different and weakness.Using big in traditional control loop
The independent information of amount acquires sensor, works independently between each other, and each sensor-based system carries out calculating remittance using multiple processors
Always, power consumption is big, low efficiency, and data are asynchronous, and the information of acquisition is complicated and at random or even mutually conflicts, and reduces information collection
Reliability, can not allowing control loop, Sort Priority judges in time in some way；It can not be real between each sensing system
Existing physical characteristic is complementary, results in waste of resources.
Summary of the invention
The object of the present invention is to provide a kind of multi-mode object detection method and systems, acquire signal based on multiple sensors
After carry out data fusion, two dimension or three-dimensional Reconstruction are carried out to external environment, improve the accuracy, complete of perception external environment
Face row and timeliness.
To achieve the goals above, the technical solution adopted by the present invention is：
A kind of multi-mode object detection method, includes the following steps：
（1）Sensor module acquires the original signal of external environment in real time；
（2）The original signal that preprocessing module acquires sensor module is handled, and obtains digital signal；
（3）Data analysis module is to digital signal identification and extracts characteristic value；
（4）Information Fusion Module carries out matching and fusion treatment to digital signal characteristic value, forms Real-time Two-dimensional or three-dimensional exterior
Ambient image, and stored and exported.
Further, sensor module includes phased-array radar, laser radar, visible light sensor, near infrared sensor
And far-infrared sensor.
A kind of multi-mode target detection system, including sensor module, for acquiring the original signal of external environment in real time；
Preprocessing module obtains digital signal for handling the original signal of acquisition；Data analysis module, based on setting in advance
The algorithm set identifies digital signal, extracts characteristic value；Information Fusion Module, for the progress of digital signal characteristic value
Match and fusion treatment, forms Real-time Two-dimensional or three-dimensional exterior ambient image, the preprocessing module, data analysis module and information
Fusion Module is got up by three-dimensional IC circuit interconnection architecture configuration between each other.
Further, multi-mode target detection system further includes memory module, is connect with information Fusion Module, for storing
The two dimension or three-dimensional exterior ambient image generated in real time.
Further, multi-mode target detection system further includes output mould group, is connect with information Fusion Module, for exporting
The two dimension or three-dimensional exterior ambient image of generation.
Preferably, preprocessing module includes reading circuit and analog-to-digital conversion circuit, and reading circuit is for reading sensing
The original signal of device assembly acquisition, and it is double to signal amplification and noise filtering, including preamplifier, low-pass filter and correlation
Sample circuit；Analog-to-digital conversion circuit is used to the analog signal of reading circuit being converted into digital signal, and by digital signal
It is transferred to data analysis module.
Further, output mould group includes man-machine interface, communication module and video output interface.
Further, sensor module includes phased-array radar, laser radar, visible light sensor, near infrared sensor
And far-infrared sensor.
Compared with prior art, beneficial effects of the present invention：
（1）The present invention acquires external environmental information by the sensor being arranged in multiple and different wavelength bands in real time and merges,
Make full use of data, to external environment carry out two dimension or three-dimensional Reconstruction, improve perception external environment accuracy, comprehensively
Property and timeliness；System power dissipation and cost are reduced simultaneously；
（2）Every kind of sensor is different to the location aware of external environment, through the invention melts the data that multiple sensors acquire
After conjunction, complementation is formed between data, increases the authenticity and reliability of data, it can be more quasi- under more complex environment
True environment-identification target, improves the Stability and adaptability of environment detection；
（3）The composite can be widely applied to multiple fields and scene involved in environment detection, as automatic driving, aircraft and
The fields such as ship running, Personal Transporter, intelligent robot and intelligent security-protecting and monitoring.
Detailed description of the invention
Fig. 1 is the flow diagram of detection method of the present invention；
Fig. 2 is the principle assumption diagram of present system；
Fig. 3 is reading circuit figure of the invention.
Specific embodiment
It elaborates below with reference to Fig. 1 to Fig. 3 to embodiments of the present invention and specific operating process, but the present invention
Protection scope be not limited to the following embodiments.
The present invention discloses a kind of multi-mode object detection method, includes the following steps, referring to Fig. 1：
S1：Sensor module acquires the original signal of external environment in real time；
S2：The original signal that preprocessing module acquires sensor module is handled, and obtains digital signal；
S3：Data analysis module is to digital signal identification and extracts characteristic value；
S4：Information Fusion Module carries out matching and fusion treatment to digital signal characteristic value, forms Real-time Two-dimensional or three-dimensional exterior
Ambient image, and stored and exported.
Specifically, sensor module be different-waveband within the scope of multiple sensors, including but not limited to phased-array radar,
Laser radar, visible light sensor, near infrared sensor and far-infrared sensor, covering spectral region from wavelength 380nm to
10mm, from can be by light, near-infrared, far infrared to microwave, to overcome the shortcomings of each species sensor in detecting light spectrum range.
The present invention acquires external environmental information by the sensor being arranged in multiple and different wavelength bands in real time and merges, and makes full use of
Data carry out two dimension or three-dimensional Reconstruction to external environment, improve the perception accuracy of external environment, comprehensive row and in time
Property；System power dissipation and cost are reduced simultaneously.
In the present invention, preprocessing module includes reading circuit and analog-to-digital conversion circuit.Reading circuit is for reading
The original signal of sensor module acquisition, and to signal amplification and noise filtering, including preamplifier, low-pass filter and phase
Close double sampling circuit；Analog-to-digital conversion circuit is used to the analog signal of reading circuit being converted into digital signal, then will count
Word signal is transferred to data analysis module.Data analysis module is analyzed and is known to digital signal according to pre-set algorithm
Not, the digital signal characteristic value of dissimilar sensor is extracted, pre-set algorithm can be by acquiring various environment in advance
Under unlike signal, analysis test is carried out to these signals, optimal statistical knowledge rule is obtained and carries out deep learning and obtain.
Information Fusion Module matches digital signal characteristic value, combines different digital signal characteristic value one in different ratios
It rises and obtains fused signal data, the Real-time Two-dimensional that fused signal data formation is loaded with multiple attributes is handled by analysis
Or three-dimensional exterior ambient image.Because every kind of sensor is different to the location aware of external environment, through the invention by multiple biographies
After the data fusion of sensor acquisition, complementation is formed between data, increases the authenticity and reliability of data, it can be more complicated
In the environment of, more accurate environment-identification target is conducive to the Stability and adaptability for improving environment detection.
The multi-mode object detection method provided based on the above embodiment, the present invention also provides a kind of multi-mode target acquisitions
System, referring to fig. 2, including sensor module, preprocessing module, data analysis module and information Fusion Module, preprocessing module,
Data analysis module and information Fusion Module are got up by three-dimensional IC circuit interconnection architecture configuration between each other, can be with application
Controller connection on carrier.
Specifically, sensor module includes but is not limited to phased-array radar, laser radar, visible light sensor, near-infrared
Sensor and far-infrared sensor, for acquiring the original signal of external environment in real time, each type in sensor module is passed
Sensor reasonable Arrangement is on application vector, to reduce detection blind area and guarantee the original signal of acquisition comprehensively, completely；Pre-process mould
Block obtains digital signal for handling the original signal of acquisition, specifically, preprocessing module include reading circuit and
Analog-to-digital conversion circuit；Reading circuit is used to read the original signal of sensor module acquisition, and to signal amplification and noise
It filters out, including preamplifier, low-pass filter and correlating double sampling circuit, referring to Fig. 3；Analog-to-digital conversion circuit is used for will
The analog signal of reading circuit is converted into digital signal, then by digital data transmission to data analysis module.Data analyze mould
Block identifies digital signal based on pre-set algorithm, extracts characteristic value；In the present invention, pre-set algorithm
By acquiring the unlike signal under various environment in advance, analysis test is carried out to these signals, obtains optimal statistical knowledge rule
Then and carries out deep learning and obtain；Information Fusion Module is formed for carrying out matching and fusion treatment to digital signal characteristic value
It is loaded with the Real-time Two-dimensional or three-dimensional exterior ambient image of multiple attributes.
In practice, multi-mode target detection system further includes memory module, connect, is used for information Fusion Module
Store the two dimension or three-dimensional exterior ambient image generated in real time.
Further, multi-mode target detection system further includes output mould group, is connect with information Fusion Module, for exporting
The two dimension or three-dimensional exterior ambient image of generation.In the present invention, output mould group includes but is not limited to man-machine interface, communication module
And video output interface, it is not specifically limited herein.
Present system can be widely applied to multiple fields and scene involved in environment detection, as automatic driving,
The fields such as aircraft and ship running, Personal Transporter, intelligent robot and intelligent security-protecting and monitoring, correspondingly, sensor module
It is then mounted on corresponding application vector, such as automobile, aircraft, robot, to obtain transducing signal different under same environment
It is merged.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc. should all be included in the protection scope of the present invention within mind and principle.
Claims (8)
1. a kind of multi-mode object detection method, which is characterized in that include the following steps：
（1）Sensor module acquires the original signal of external environment in real time；
（2）The original signal that preprocessing module acquires sensor module is handled, and obtains digital signal；
（3）Data analysis module is to digital signal identification and extracts characteristic value；
（4）Information Fusion Module carries out matching and fusion treatment to digital signal characteristic value, forms Real-time Two-dimensional or three-dimensional exterior
Ambient image, and stored and exported.
2. multi-mode object detection method according to claim 1, which is characterized in that the sensor module includes phased
Battle array radar, laser radar, visible light sensor, near infrared sensor and far-infrared sensor.
3. a kind of multi-mode target detection system, which is characterized in that including sensor module, for acquiring external environment in real time
Original signal；Preprocessing module obtains digital signal for handling the original signal of acquisition；Data analysis module, base
Digital signal is identified in pre-set algorithm, extracts characteristic value；Information Fusion Module, for digital signal characteristic
Value carries out matching and fusion treatment, forms Real-time Two-dimensional or three-dimensional exterior ambient image, and the preprocessing module, data analyze mould
Block and information Fusion Module are got up by three-dimensional IC circuit interconnection architecture configuration between each other.
4. multi-mode target detection system according to claim 3, which is characterized in that further include memory module, with information
Fusion Module connection, for storing the two dimension generated in real time or three-dimensional exterior ambient image.
5. multi-mode target detection system according to claim 3, which is characterized in that further include output mould group, with information
Fusion Module connection, for exporting the two dimension or three-dimensional exterior ambient image that generate.
6. multi-mode target detection system according to claim 3, which is characterized in that the preprocessing module includes reading
Circuit and analog-to-digital conversion circuit, reading circuit is used to read the original signal of sensor module acquisition, and amplifies to signal
And noise filtering, including preamplifier, low-pass filter and correlating double sampling circuit；The analog-to-digital conversion circuit is used for
The analog signal of reading circuit is converted into digital signal, and by digital data transmission to data analysis module.
7. multi-mode target detection system according to claim 5, which is characterized in that the output mould group includes human-machine interface
Mouth, communication module and video output interface.
8. according to the described in any item multi-mode target detection systems of claim 3-7, which is characterized in that the sensor module
Including phased-array radar, laser radar, visible light sensor, near infrared sensor and far-infrared sensor.
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| CN201811086611.7A CN108845314A (en) | 2018-09-18 | 2018-09-18 | A kind of multi-mode object detection method and system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109683156A (en) * | 2018-12-28 | 2019-04-26 | 深圳市安星数字系统有限公司 | A kind of method and system breaking through unmanned plane |
| CN109831655A (en) * | 2019-03-21 | 2019-05-31 | 苏州大学 | Ship environment perception and early warning system based on multi-cam data fusion |
| CN111931657A (en) * | 2020-08-11 | 2020-11-13 | 中国原子能科学研究院 | Object recognition system, method and storage medium |
-
2018
- 2018-09-18 CN CN201811086611.7A patent/CN108845314A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109683156A (en) * | 2018-12-28 | 2019-04-26 | 深圳市安星数字系统有限公司 | A kind of method and system breaking through unmanned plane |
| CN109831655A (en) * | 2019-03-21 | 2019-05-31 | 苏州大学 | Ship environment perception and early warning system based on multi-cam data fusion |
| CN111931657A (en) * | 2020-08-11 | 2020-11-13 | 中国原子能科学研究院 | Object recognition system, method and storage medium |
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