CN112241008B - 用于对象检测的方法和系统 - Google Patents
用于对象检测的方法和系统 Download PDFInfo
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- CN112241008B CN112241008B CN202010685414.8A CN202010685414A CN112241008B CN 112241008 B CN112241008 B CN 112241008B CN 202010685414 A CN202010685414 A CN 202010685414A CN 112241008 B CN112241008 B CN 112241008B
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- 238000001514 detection method Methods 0.000 title claims abstract description 68
- 238000000034 method Methods 0.000 title claims abstract description 54
- 230000004927 fusion Effects 0.000 claims description 28
- 230000000694 effects Effects 0.000 claims description 9
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- 230000003068 static effect Effects 0.000 claims description 4
- 238000007781 pre-processing Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 description 8
- 230000002123 temporal effect Effects 0.000 description 7
- 238000013528 artificial neural network Methods 0.000 description 5
- 230000006835 compression Effects 0.000 description 5
- 238000007906 compression Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 238000013527 convolutional neural network Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 230000001052 transient effect Effects 0.000 description 3
- 238000012935 Averaging Methods 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000001537 neural effect Effects 0.000 description 2
- 230000011218 segmentation Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
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- 230000008447 perception Effects 0.000 description 1
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Classifications
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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
-
- 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
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
- G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
- G01S13/726—Multiple target tracking
-
- 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
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
-
- 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
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
-
- 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
- G01S7/417—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 involving the use of neural networks
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/02—Neural networks
- G06N3/04—Architecture, e.g. interconnection topology
- G06N3/045—Combinations of networks
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/02—Neural networks
- G06N3/04—Architecture, e.g. interconnection topology
- G06N3/049—Temporal neural networks, e.g. delay elements, oscillating neurons or pulsed inputs
-
- 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
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
-
- 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
- G01S7/411—Identification of targets based on measurements of radar reflectivity
-
- 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
- G01S7/415—Identification of targets based on measurements of movement associated with the target
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03M—CODING; DECODING; CODE CONVERSION IN GENERAL
- H03M7/00—Conversion of a code where information is represented by a given sequence or number of digits to a code where the same, similar or subset of information is represented by a different sequence or number of digits
- H03M7/30—Compression; Expansion; Suppression of unnecessary data, e.g. redundancy reduction
- H03M7/3059—Digital compression and data reduction techniques where the original information is represented by a subset or similar information, e.g. lossy compression
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Theoretical Computer Science (AREA)
- Evolutionary Computation (AREA)
- Artificial Intelligence (AREA)
- Computational Linguistics (AREA)
- Computing Systems (AREA)
- Biomedical Technology (AREA)
- Data Mining & Analysis (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Molecular Biology (AREA)
- Biophysics (AREA)
- General Engineering & Computer Science (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Health & Medical Sciences (AREA)
- Radar Systems Or Details Thereof (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Claims (12)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP19187019.5 | 2019-07-18 | ||
EP19187019.5A EP3767332B1 (en) | 2019-07-18 | 2019-07-18 | Methods and systems for radar object detection |
Publications (2)
Publication Number | Publication Date |
---|---|
CN112241008A CN112241008A (zh) | 2021-01-19 |
CN112241008B true CN112241008B (zh) | 2024-04-16 |
Family
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Application Number | Title | Priority Date | Filing Date |
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CN202010685414.8A Active CN112241008B (zh) | 2019-07-18 | 2020-07-16 | 用于对象检测的方法和系统 |
Country Status (3)
Country | Link |
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US (1) | US11604272B2 (zh) |
EP (1) | EP3767332B1 (zh) |
CN (1) | CN112241008B (zh) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20220335279A1 (en) * | 2021-04-14 | 2022-10-20 | Aptiv Technologies Limited | Radar System Using a Machine-Learned Model for Stationary Object Detection |
CN113267753B (zh) * | 2021-05-13 | 2022-07-19 | 中国人民解放军军事科学院战争研究院 | 一种基于三维网格的雷达探测仿真方法 |
CN113317791B (zh) * | 2021-05-28 | 2023-03-14 | 温州康宁医院股份有限公司 | 一种基于被测者的音频确定抑郁症严重程度的方法及装置 |
CN113568068B (zh) * | 2021-07-22 | 2022-03-29 | 河南大学 | 一种基于mpi并行的三维神经网络的强对流天气预测方法 |
WO2023121657A1 (en) * | 2021-12-21 | 2023-06-29 | Intel Corporation | Radar apparatus, system, and method |
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US8488877B1 (en) * | 2009-12-02 | 2013-07-16 | Hrl Laboratories, Llc | System for object recognition in colorized point clouds |
CN107609522A (zh) * | 2017-09-19 | 2018-01-19 | 东华大学 | 一种基于激光雷达和机器视觉的信息融合车辆检测系统 |
CN108008370A (zh) * | 2016-10-27 | 2018-05-08 | 通用汽车环球科技运作有限责任公司 | 多个雷达中的改进的对象检测 |
DE102018203591B3 (de) * | 2018-03-09 | 2019-07-04 | Conti Temic Microelectronic Gmbh | Verfahren und System zur Klassifikation von Verkehrsteilnehmern |
Family Cites Families (19)
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DE102014218092A1 (de) * | 2014-09-10 | 2016-03-10 | Volkswagen Aktiengesellschaft | Erstellen eines Abbilds der Umgebung eines Kraftfahrzeugs und Bestimmen der relativen Geschwindigkeit zwischen dem Kraftfahrzeug und Objekten in der Umgebung |
US20170168134A1 (en) * | 2015-12-10 | 2017-06-15 | Qualcomm Incorporated | Object Detection |
EP3340106B1 (en) * | 2016-12-23 | 2023-02-08 | Hexagon Technology Center GmbH | Method and system for assigning particular classes of interest within measurement data |
US10417498B2 (en) * | 2016-12-30 | 2019-09-17 | Mitsubishi Electric Research Laboratories, Inc. | Method and system for multi-modal fusion model |
US9691019B1 (en) * | 2017-03-07 | 2017-06-27 | Google Inc. | Depth concatenation using a matrix computation unit |
BR112019020579A2 (pt) * | 2017-03-31 | 2020-05-19 | A^3 By Airbus, Llc | sistema e método para monitorar ameaças de colisão para um veículo |
DE102017220243B3 (de) * | 2017-11-14 | 2019-02-21 | Continental Automotive Gmbh | Verfahren und vorrichtung zum erkennen einer blockierung einer radarvorrichtung, fahrerassistenzsystem und fahrzeug |
US11556777B2 (en) * | 2017-11-15 | 2023-01-17 | Uatc, Llc | Continuous convolution and fusion in neural networks |
US10970553B2 (en) * | 2017-11-15 | 2021-04-06 | Uatc, Llc | Semantic segmentation of three-dimensional data |
US11475351B2 (en) * | 2017-11-15 | 2022-10-18 | Uatc, Llc | Systems and methods for object detection, tracking, and motion prediction |
US11080590B2 (en) * | 2018-03-21 | 2021-08-03 | Nvidia Corporation | Stereo depth estimation using deep neural networks |
US10810792B2 (en) * | 2018-05-31 | 2020-10-20 | Toyota Research Institute, Inc. | Inferring locations of 3D objects in a spatial environment |
US11966838B2 (en) * | 2018-06-19 | 2024-04-23 | Nvidia Corporation | Behavior-guided path planning in autonomous machine applications |
KR20200044420A (ko) * | 2018-10-19 | 2020-04-29 | 삼성전자주식회사 | 위치 추정 방법 및 장치 |
US11422253B2 (en) * | 2018-11-19 | 2022-08-23 | Tdk Corportation | Method and system for positioning using tightly coupled radar, motion sensors and map information |
US11899099B2 (en) * | 2018-11-30 | 2024-02-13 | Qualcomm Incorporated | Early fusion of camera and radar frames |
US11520347B2 (en) * | 2019-01-23 | 2022-12-06 | Baidu Usa Llc | Comprehensive and efficient method to incorporate map features for object detection with LiDAR |
US20200278423A1 (en) * | 2019-03-01 | 2020-09-03 | GM Global Technology Operations LLC | Removing false alarms at the beamforming stage for sensing radars using a deep neural network |
US20210026355A1 (en) * | 2019-07-25 | 2021-01-28 | Nvidia Corporation | Deep neural network for segmentation of road scenes and animate object instances for autonomous driving applications |
-
2019
- 2019-07-18 EP EP19187019.5A patent/EP3767332B1/en active Active
-
2020
- 2020-06-18 US US16/904,835 patent/US11604272B2/en active Active
- 2020-07-16 CN CN202010685414.8A patent/CN112241008B/zh active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
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US8488877B1 (en) * | 2009-12-02 | 2013-07-16 | Hrl Laboratories, Llc | System for object recognition in colorized point clouds |
CN108008370A (zh) * | 2016-10-27 | 2018-05-08 | 通用汽车环球科技运作有限责任公司 | 多个雷达中的改进的对象检测 |
CN107609522A (zh) * | 2017-09-19 | 2018-01-19 | 东华大学 | 一种基于激光雷达和机器视觉的信息融合车辆检测系统 |
DE102018203591B3 (de) * | 2018-03-09 | 2019-07-04 | Conti Temic Microelectronic Gmbh | Verfahren und System zur Klassifikation von Verkehrsteilnehmern |
Also Published As
Publication number | Publication date |
---|---|
EP3767332A1 (en) | 2021-01-20 |
CN112241008A (zh) | 2021-01-19 |
US11604272B2 (en) | 2023-03-14 |
EP3767332B1 (en) | 2023-12-13 |
US20210018615A1 (en) | 2021-01-21 |
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