CN110428626A - A kind of wagon detector and its installation method of microwave and video fusion detection - Google Patents
A kind of wagon detector and its installation method of microwave and video fusion detection Download PDFInfo
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- CN110428626A CN110428626A CN201910742607.XA CN201910742607A CN110428626A CN 110428626 A CN110428626 A CN 110428626A CN 201910742607 A CN201910742607 A CN 201910742607A CN 110428626 A CN110428626 A CN 110428626A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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Abstract
The present invention provides the wagon detectors of a kind of microwave and video fusion detection, including housing main body, the housing main body two sides are separately installed with panel fixing frame and rear cover, MICROWAVE PROTECTION panel is provided between the panel fixing frame and housing main body, camera is provided in the housing main body, Microwave Detector, power panel and processing module, circular hole is equipped in the corresponding MICROWAVE PROTECTION panel of the camera, the power panel respectively with camera, Microwave Detector and processing module are electrically connected, the processing module respectively with camera and Microwave Detector data connection, mounting bracket is provided on the outside of the housing main body, the wagon detector detection zone is big, accurate target position can be provided, velocity information and field image information, it is able to detect the target of stopping.
Description
Technical field
The present invention relates to the wagon detectors and its installation method of a kind of microwave and video fusion detection.
Background technique
There are mainly three types of wagon detectors on present road: ground magnetic-type wagon detector, microwave-type wagon detector and
Video-type wagon detector.
Ground magnetic-type wagon detector needs to cut road and carries out paving buriing work, and difficulty of construction is big, and construction cost is high, once road
Road needs to construct again, and (maintenance or road change) then magnetic-type wagon detector is destroyed.Metallics near road surface can be right
Ground magnetic-type wagon detector causes significant impact.One ground magnetic-type wagon detector can only detect some section on single lane
Wagon flow situation, the road information that can be provided are limited.
Microwave-type wagon detector emits microwave beam to the pavement of road of detection zone, and vehicle enters beam irradiation range
When generate reflection signal, microwave vehicle detector receive vehicle reflection signal handled, obtain the position and speed of vehicle
Information.Microwave-type wagon detector is able to detect one section of region of road, and climate condition influences smaller (evening on daytime performance
Indifference, sleet hardships influence smaller).But microwave-type wagon detector can not provide the visual information at road scene, can not
It is detected to vehicle is stopped, false target is often detected after cart to the detection of cart, to the closer vehicle of spacing
Detection also can not effectively distinguish, can not effectively distinguish cart, trolley, non-motor vehicle and pedestrian.
Video-type wagon detector carries out image procossing and analysis by the road surface video to monitoring region, obtains vehicle and exists
Location information on picture, and according to the variation of Pictures location, the speed of vehicle can be estimated roughly.Video-type wagon detector by
It is limited to detect recognition capability, center picture region can only be preferably identified.The advantages of video-type wagon detector, is
The image situation on road surface can be provided, ideally, to the cart of picture centre region, intensive trolley has excellent light
Detection performance；It is also good to the recognition effect of different vehicle vehicle and pedestrian.The disadvantage of video-type wagon detector be by
It is very big (can not work substantially under evening degradation, rain and fog weather) to bright situation, weather influence.
In conclusion three kinds of common at present wagon detectors respectively have advantage and disadvantage, but without providing detection good enough
Effect.
Summary of the invention
It is an object of the invention to overcome above-mentioned the deficiencies in the prior art, if a kind of equipment, can simultaneously using microwave and
If video is detected, and the data of both detection methods can mutually be unified, which will provide quite ideal inspection
Effect is surveyed, can be detected by microwave and guarantee sufficiently large detection zone, and climate condition does not influence, and can be mentioned by video detection
Information is influenced for scene, complete static target, cart detection and distinguishes a variety of models classification.
The target information that microwave vehicle detector detects is based on real world, and the coordinate and speed of target are all bases
In the coordinate (world coordinate system) and speed of real world；The target information that video-based vehicle detection detects is based on figure
The coordinate of piece, target is the pixel coordinate of picture.How by the target information and video based on real world of microwave vehicle checker
Vehicle checker carries out unification based on the information of picture pixels in the same wagon detector, and installs and make on real road
With being a huge problem.The present invention provides the wagon detector of a kind of microwave and video fusion detection, has detection zone
Greatly, accurate target position, velocity information and field image information can be provided, the effect of the target of stopping is able to detect.
The invention is realized in this way the wagon detector of a kind of microwave and video fusion detection, including housing main body, institute
It states housing main body two sides and is separately installed with panel fixing frame and rear cover, be arranged between the panel fixing frame and housing main body
There is MICROWAVE PROTECTION panel, camera, Microwave Detector, power panel and processing module are provided in the housing main body, it is described
Be equipped with circular hole in the corresponding MICROWAVE PROTECTION panel of camera, the power panel respectively with camera, Microwave Detector and place
Manage module be electrically connected, the processing module respectively with camera and Microwave Detector data connection, the housing main body
Outside is provided with mounting bracket.
Preferably, the housing main body is aluminum alloy casing main body, it is internally provided with partition in the middle part of the housing main body,
The camera and Microwave Detector setting are arranged in plate front end, the power panel and processing module in partition rear end.
Preferably, outside is equipped with multiple heat release holes in the middle part of the housing main body.
Preferably, the mounting bracket and housing main body are hinged.
Preferably, the installation method of the wagon detector, comprising the following steps:
1) wagon detector is tentatively installed to by mounting bracket by designated mounting position, the video shadow exported according to camera
Picture, the azimuth of first successive step wagon detector and pitch angle, make wagon detector be directed at area to be tested, and judgment basis is view
Frequency image center is overlapped with area to be tested center；
2) it is then turned on Microwave Detector, and the target data that Microwave Detector is detected is depicted as track thermal map,
According to track thermal map shape, wagon detector azimuth is adjusted, occurs track thermal map vertically, at this time vehicle sensors and lane
Direction face, azimuth mix up, then adjust pitch angle, and microwave detector is made to detect the mesh of detection zone distalmost end and most proximal end
Track is marked, then pitch angle mixes up；
3) after the completion of the adjustment of azimuth pitch angle, fixed vehicle detector；
4) after wagon detector is fixed, target trajectory thermal map is drawn again according to the shape of track thermal map and draws detection zone
Road-map, referring to detection zone map, by Microwave Detector detection target and position of the target in camera picture
It is matched, and obtains pixel coordinate of the target in picture, carry out 12 groups of target pairings, the pixel for obtaining 12 groups of targets is sat
Mark detects to obtain the world coordinates of corresponding target in conjunction with Microwave Detector, forms coordinate conversion equation set, after solving equations,
Homography matrix data of the camera under current installation condition are acquired, homography matrix data are transported to wagon detector
Inside processing module, it is supplied to track algorithm use；
5) microwave detector installation and debugging are completed, being capable of normal use.
Preferably, the homography matrix data of camera are used to realize microwave built in wagon detector in the step 4)
Detection module detected target data and camera detection based on world coordinate system obtain based on picture pixels coordinate
Target data between mutual conversion.
Preferably, in the step 4) homography matrix data of camera acquisition methods are as follows: camera target picture
The transformational relation calculating formula of the world coordinates of the target in plain coordinate and real world are as follows:
Wherein (Xp, Yp, Zp) is the pixel coordinate in camera picture, and (Xw, Yw, Zw) is the seat of target in world coordinate system
Mark, and H-matrix calculation relational expression are as follows:
When wagon detector is after designated position is installed, then the homography matrix of the camera determines, by acquiring microwave
Detection module detects target data, target data is depicted as thermal map, then the thermal map embodies the lane situation of detection zone, root
According to the lane situation of thermal map, the map of detection zone is drawn, after obtaining detection zone map, will test the microwave in area map
The target that detection module detects is compared with the target in camera picture, can be completed Microwave Detector and be detected
To the matching of target in target and camera picture, on the object matching that target and Microwave Detector in picture detect
Afterwards, it extracts and obtains the pixel coordinate (Xp, Yp, Zp) of the target, examined in conjunction with above-mentioned coordinate transformation relation and Microwave Detector
Coordinate (Xw, Yw, Zw) of the target based on world coordinate system provided is surveyed, then obtains one using H-matrix as the equation of unknown number, H
Matrix is made of 12 elements, selects the pixel coordinate and world coordinates of the target of 12 successful matchings, can be with 12 equation sets
At equation group, then can solve to obtain H-matrix.
Preferably, track algorithm in the step 4) are as follows: in each detection cycle, obtain Microwave Detector mesh
After marking data and camera detection target data, first data validity is verified, then rejecting invalid data will test
Two kinds of obtained target datas are matched with the target in tracking, matched foundation be position, speed and vehicle size,
If matched, the data for illustrating that detection obtains belong to the target tracked, can update tracking with the data newly detected
Target；It has tracked after target all matches, still the valid data unmatched, according to the newly-built tracking target of the data；Using
The method that the target data that Microwave Detector target data and camera detection target data obtain is weighted with the degree of reliability obtains
Target data finally is obtained, target following state is updated with final target data.
Preferably, the degree of reliability includes following situation: Microwave Detector target data and camera detection mesh
Mark data all detect the target, and the degree of reliability is high；Microwave Detector target data and camera detection target data
All detect the target, degree of reliability height difference；Microwave Detector target data and camera detection target data are wherein
One detects the target；Microwave Detector target data and camera detection target data all do not detect the target.
In conclusion by adopting the above-described technical solution, the beneficial effects of the present invention are: due to using microwave and video
The vehicle equipment of fusion can have both the advantages of microwave-type wagon detector is with video-type wagon detector after mounting,
And eliminate microwave-type wagon detector and the disadvantage of video-type wagon detector respectively；To have the advantage that detection zone
Greatly, and hardly it is influenced by weather condition, eliminate individual video detection detection zone deficiency and is influenced by weather condition
The shortcomings that.Accurate target position and velocity information can be provided, accurate target position can not be provided by improving individual video detection
It sets and the shortcomings that speed.Field image information can be provided, cart, closely spaced two cars and various different automobile types can be detected very well
Vehicle, improve that individual microwave detection cart detection effect is poor, closely spaced vehicle detection effect is poor, differentiation vehicle effect is poor
The shortcomings that.The target that can detecte stopping eliminates the shortcomings that individual microwave detection cannot detect static target.It can obtain simultaneously
These performances are obtained, are not available for former individually microwave-type wagon detector and video-type wagon detector.
Detailed description of the invention
In order to illustrate more clearly of technical solution of the present invention, letter will be made to attached drawing needed in the embodiment below
Singly introduce, it should be apparent that, drawings in the following description are only some embodiments of the invention, skill common for this field
For art personnel, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is that the present invention provides the detonation configuration of a kind of microwave of embodiment and the wagon detector of video fusion detection
Figure.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description.
As shown in Figure 1, the wagon detector of a kind of microwave and video fusion detection, be installed on the upright bar of trackside, L-type frame and
On portal frame.The wagon detector using the method that microwave detection is blended with video detection in detection zone motor vehicle,
Non-motor vehicle and pedestrian detect.Including housing main body 5,5 two sides of housing main body are separately installed with panel fixing frame 1
With rear cover 8, it is provided with MICROWAVE PROTECTION panel 2 between the panel fixing frame 1 and housing main body 5, is set in the housing main body 5
Be equipped with camera 3, its principle of Microwave Detector 4(be according to microwave reflection, transmission, diffraction it is dry penetrate, the physics such as Cavity perturbation it is special
Property change and tested target dielectric constant and loss tangent angle opposite variation, pass through measurement microwave basic parameter: amplitude
Decaying, phase-shift phase or frequency variation, realize the device that is detected to target), power panel 5 and processing module 6,3 He of camera
Microwave Detector 4 is integrated to be assembled on same plastic casing, and wherein camera 3 obtains image information, and processing module 7 is run
Artificial intelligence Target Recognition Algorithms obtain picture target information, and processing module 7(specifically uses existing data processor) also hold
Carry on a shoulder pole the whole algorithms and software function of entire wagon detector.Circular hole is equipped in the corresponding MICROWAVE PROTECTION panel 2 of the camera 3
10, MICROWAVE PROTECTION panel 2 is formed by polycarbonate (Polycarbonate, abbreviation PC) material injection, and microwave penetration characteristic is excellent
Different, anti-ultraviolet property, weather resistance tool are good, adapt to the application scenarios of wagon detector outdoor application.On MICROWAVE PROTECTION panel 2
Circular hole 10, the excellent acrylic thin slice of insertion translucency, the form as camera 3.The power panel 5 respectively with camera
3, Microwave Detector 4 and processing module 6 are electrically connected, and the processing module 6 detects mould with camera 3 and microwave respectively
4 data connection of block is provided with mounting bracket 9 on the outside of the housing main body 5.The housing main body 5 is aluminum alloy casing main body, is taken the photograph
As high heating part directly or indirectly (is intermediate matchmaker by heat dissipation good conductor in head 3, Microwave Detector 4 and processing module 7
It is situated between) it is close to housing main body 5, it conducts heat to housing main body 5 and dissipates.It is internally provided with partition 11 in the middle part of the housing main body 5,
Housing main body 5 is separated into ante-chamber and back cavity, the camera 3 and Microwave Detector 4 are arranged in 11 front end of partition, the electricity
Source plate 5 and processing module 6 are arranged in 11 rear end of partition.The 5 middle part outside of housing main body is equipped with multiple heat release holes 12, heat release hole
12 be multiple holes ganged up vertically and level is ganged up, and promotes integral heat sink performance, and it is larger to be conducive to video detection module operation power consumption
Artificial intelligence Target Recognition Algorithms.There is waterproof adhesive tape in 5 both ends outer of housing main body, in panel fixing frame 1, MICROWAVE PROTECTION
Panel 2 and rear cover 8 are bonded and are compressed when carrying out self-contained with housing main body 5, guarantee the outdoor waterproof performance used.The installation
Bracket 9 and housing main body 5 are hinged, so that the angle of housing main body 5 is adjustable.
Wagon detector contains microwave detection and video
It is to need mutually to convert two obtained data of detection module, by algorithm further after detecting two parts function
It is used in conjunction with.The target data based on world coordinates that Microwave Detector is detected is transformed into camera picture, is obtained
Respective pixel coordinate is obtained, is needed using coordinate transfer equation:
By Microwave Detector obtain target world coordinates (Xw, Yw,
Zw the pixel coordinate) being converted into picture needs first to obtain H-matrix:
That is the homography matrix of camera.
It the characteristics of for this wagon detector while built-in Microwave Detector and camera, can be by Microwave Detector
The target of acquisition is matched by artificial method with the corresponding target in picture, thus obtain pixel coordinate (Xp, Yp,
Zp).There are the world coordinates (Xw, Yw, Zw) and pixel coordinate (Xp, Yp, Zp) of the same target, so that it may list a conversion
Equation.H-matrix is made of 12 elements, selects the pixel coordinate and world coordinates of the target of 12 successful matchings, can be with 12
Equation forms equation group, then can solve to obtain H-matrix.
And to complete microwave detection and obtain the pairing for corresponding to target in target and picture, it needs with first drawing detection zone
Figure can be just completed quickly and effectively micro- according to the comparison reference of lane situation in lane situation in detection zone map and picture
The pairing of target is corresponded in wave detection target and picture.Target data is detected by acquiring more microwave, target data is drawn
Thermal map is made, then the thermal map embodies the lane situation of detection zone, according to the lane situation of thermal map, can draw detection zone
Map.
After obtaining live map, so that it may easily match detections of radar target and position of the target in picture
It is right, to obtain pixel coordinate.
It is installed and is obtained under the installation site after the homography matrix of camera in wagon detector, according to aforementioned turn
Relationship is changed, the world coordinates data and pixel coordinate data of target can be converted mutually.Ideally, the same target
World coordinates be converted into picture pixels coordinate after, should be overlapped with the pixel coordinate that video detection obtains, equally, pixel coordinate turn
After at world coordinates, the world coordinates that should also detect with microwave coincides.That is, wagon detector can be examined by microwave
It surveys and video detection obtains two kinds of data, both data can carry out indifference processing after conversion.To both data
Processing method are as follows: in each detection cycle, after obtaining microwave detection target data and video detection target data, first logarithm
It is verified according to validity, rejects invalid data, such as reject the target data on the non-rice habitats provided in video detection.So
Afterwards, the two kinds of target datas that will test are matched with the target in tracking, and matched foundation can be position, speed
The conditions such as degree and vehicle.If matched, illustrate that the obtained data of detection belong to the target tracked, it can be with newly detecting
Data update tracking target.All to have tracked after target all matches, still valid data unmatched can be according to this
The newly-built tracking target of data.To the same target, have several match conditions and occur: microwave and video all detect the target,
And confidence level is very high；Microwave and video all detect the target, but confidence level has height difference；Microwave and video only one
Detect the target；Microwave and video all do not detect the target.At this point, the target data obtained using two kinds of detection methods
Final target data is obtained with the method for confidence level weighting, target following state is updated with final target data.
Finally, being the installation and debugging of wagon detector.Wagon detector is tentatively installed to designated mounting position, fixed spiral shell
Nail wouldn't be tightened.According to the video image that built-in camera exports, the azimuth of first successive step wagon detector and pitch angle make
Wagon detector is directed at area to be tested, and judgment basis is that video image center is substantially overlapped with area to be tested center.Then,
Microwave Detector is opened, and the target data that Microwave Detector is detected is depicted as thermal map, the case where according to thermal map,
Fine tuning wagon detector azimuth, occurs track thermal map vertically, illustrates vehicle sensors at this time and track direction face, orientation
Angle mixes up, then fine tuning pitch angle, so that microwave detector is can detecte the target trajectory of detection zone distalmost end and most proximal end, then
Pitch angle mixes up.After the completion of the adjustment of azimuth pitch angle, it is completely fixed wagon detector.After being completely fixed, draw again at this time
Target trajectory thermal map the road-map of detection zone is drawn according to the shape of track thermal map.Later, referring to detection zone
Microwave detection target is matched with position of the target in camera picture, and obtains the target in picture by figure
Pixel coordinate.12 groups of target pairings are carried out, the pixel coordinate of 12 groups of targets is obtained, detect to obtain the generation of corresponding target in conjunction with microwave
Boundary's coordinate, forms coordinate conversion equation set, and solving equations acquire homography square of the built-in camera under current installation condition
Battle array updates homography matrix to inside wagon detector, uses for algorithm.So far, microwave detector installation and debugging are completed, can
With normal use.
In conclusion by adopting the above-described technical solution, the beneficial effects of the present invention are: due to using microwave and video
The vehicle equipment of fusion can have both the advantages of microwave-type wagon detector is with video-type wagon detector after mounting,
And eliminate microwave-type wagon detector and the disadvantage of video-type wagon detector respectively；To have the advantage that detection zone
Greatly, and hardly it is influenced by weather condition, eliminate individual video detection detection zone deficiency and is influenced by weather condition
The shortcomings that.Accurate target position and velocity information can be provided, accurate target position can not be provided by improving individual video detection
It sets and the shortcomings that speed.Field image information can be provided, cart, closely spaced two cars and various different automobile types can be detected very well
Vehicle, improve that individual microwave detection cart detection effect is poor, closely spaced vehicle detection effect is poor, differentiation vehicle effect is poor
The shortcomings that.The target that can detecte stopping eliminates the shortcomings that individual microwave detection cannot detect static target.It can obtain simultaneously
These performances are obtained, are not available for former individually microwave-type wagon detector and video-type wagon detector.
It is the preferred embodiment of the present invention above, it is noted that for those skilled in the art,
Various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also considered as this hair
Bright protection scope.
Claims (9)
1. the wagon detector of a kind of microwave and video fusion detection, including housing main body, the housing main body two sides are pacified respectively
Equipped with panel fixing frame and rear cover, which is characterized in that be provided with microwave guarantor between the panel fixing frame and housing main body
Protection slab is provided with camera, Microwave Detector, power panel and processing module, the camera pair in the housing main body
Circular hole is equipped in the MICROWAVE PROTECTION panel answered, the power panel is electric with camera, Microwave Detector and processing module respectively
Property connection, the processing module is respectively with camera and Microwave Detector data connection, setting on the outside of the housing main body
There is mounting bracket.
2. the wagon detector of a kind of microwave according to claim 1 and video fusion detection, which is characterized in that described outer
Shell main body is aluminum alloy casing main body, and partition is internally provided in the middle part of the housing main body, and the camera and microwave detect mould
Block setting is arranged in plate front end, the power panel and processing module in partition rear end.
3. the wagon detector of a kind of microwave according to claim 1 and video fusion detection, which is characterized in that described outer
Outside is equipped with multiple heat release holes in the middle part of shell main body.
4. the wagon detector of a kind of microwave according to claim 1 and video fusion detection, which is characterized in that the peace
It fills bracket and housing main body is hinged.
5. the wagon detector of a kind of microwave according to claim 1 and video fusion detection, which is characterized in that the vehicle
The installation method of detector, comprising the following steps:
Wagon detector is tentatively installed to designated mounting position by mounting bracket, according to camera export video image,
The azimuth of first successive step wagon detector and pitch angle, make wagon detector be directed at area to be tested, judgment basis is video
Image center is overlapped with area to be tested center；
It is then turned on Microwave Detector, and the target data that Microwave Detector is detected is depicted as track thermal map, root
According to track thermal map shape, wagon detector azimuth is adjusted, occurs track thermal map vertically, at this time vehicle sensors and lane side
To face, azimuth is mixed up, then adjusts pitch angle, and microwave detector is made to detect the target of detection zone distalmost end and most proximal end
Track, then pitch angle mixes up；
After the completion of the adjustment of azimuth pitch angle, fixed vehicle detector；
After wagon detector is fixed, target trajectory thermal map is drawn again according to the shape of track thermal map and draws the road of detection zone
Road map, referring to detection zone map, by Microwave Detector detection target and position of the target in camera picture into
Row pairing, and pixel coordinate of the target in picture is obtained, 12 groups of target pairings are carried out, the pixel for obtaining 12 groups of targets is sat
Mark detects to obtain the world coordinates of corresponding target in conjunction with Microwave Detector, forms coordinate conversion equation set, after solving equations,
Homography matrix data of the camera under current installation condition are acquired, homography matrix data are transported to wagon detector
Inside processing module, it is supplied to track algorithm use；
Microwave detector installation and debugging are completed, being capable of normal use.
6. the wagon detector of a kind of microwave according to claim 5 and video fusion detection, which is characterized in that the step
It is rapid 4) in the homography matrix data of camera be used to realize that Microwave Detector built in wagon detector is detected and be based on
Mutually turn between the target data based on picture pixels coordinate that the target data and camera detection of world coordinate system obtain
It changes.
7. the wagon detector of a kind of microwave according to claim 5 and video fusion detection, which is characterized in that the step
It is rapid 4) in camera homography matrix data acquisition methods are as follows: the target in camera object pixel coordinate and real world
World coordinates transformational relation calculating formula are as follows:
Wherein (Xp, Yp, Zp) is the pixel coordinate in camera picture, and (Xw, Yw, Zw) is the seat of target in world coordinate system
Mark, and H-matrix calculation relational expression are as follows:
When wagon detector is after designated position is installed, then the homography matrix of the camera determines, by acquiring microwave
Detection module detects target data, target data is depicted as thermal map, then the thermal map embodies the lane situation of detection zone, root
According to the lane situation of thermal map, the map of detection zone is drawn, after obtaining detection zone map, will test the microwave in area map
The target that detection module detects is compared with the target in camera picture, can be completed Microwave Detector and be detected
To the matching of target in target and camera picture, on the object matching that target and Microwave Detector in picture detect
Afterwards, it extracts and obtains the pixel coordinate (Xp, Yp, Zp) of the target, examined in conjunction with above-mentioned coordinate transformation relation and Microwave Detector
Coordinate (Xw, Yw, Zw) of the target based on world coordinate system provided is surveyed, then obtains one using H-matrix as the equation of unknown number, H
Matrix is made of 12 elements, selects the pixel coordinate and world coordinates of the target of 12 successful matchings, can be with 12 equation sets
At equation group, then can solve to obtain H-matrix.
8. the wagon detector of a kind of microwave according to claim 5 and video fusion detection, which is characterized in that the step
It is rapid 4) in track algorithm are as follows: in each detection cycle, obtain Microwave Detector target data and camera detection target
After data, first data validity is verified, rejects invalid data, then, two kinds of target datas will test with
It is matched through the target in tracking, matched foundation is that position, speed and vehicle size illustrate to detect if matched
Obtained data belong to the target tracked, and tracking target can be updated with the data newly detected；Target has been tracked all to match
Later, still valid data unmatched, according to the newly-built tracking target of the data；Using Microwave Detector target data and
Target data that camera detection target data obtains and the method for degree of reliability weighting obtain final target data, with final
Target data update target following state.
9. a kind of microwave according to claim 8 and video fusion detection wagon detector, which is characterized in that it is described can
Include following situation by degree: Microwave Detector target data and camera detection target data all detect the target, and
The degree of reliability is high；Microwave Detector target data and camera detection target data all detect the target, the degree of reliability
Height difference；Microwave Detector target data and camera detection target data one of them detect the target；Microwave inspection
It surveys module objectives data and camera detection target data does not all detect the target.
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