WO2021003896A1 - 基于微波与视频的多目标信息融合及可视化展示方法 - Google Patents
基于微波与视频的多目标信息融合及可视化展示方法 Download PDFInfo
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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
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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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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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/065—Traffic control systems for road vehicles by counting the vehicles in a section of the road or in a parking area, i.e. comparing incoming count with outgoing count
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
Definitions
- the invention belongs to the technical field of intelligent traffic management, and specifically relates to a method for multi-target information fusion and visual display based on microwave and video.
- microwave detectors have been widely used in the field of intelligent traffic management because of their fast, convenient, non-destructive, accurate and real-time advantages, but microwave detectors cannot be used.
- microwave detectors can only collect traffic information such as vehicle speed or traffic volume, but cannot collect information such as license plates, which cannot meet the needs of comprehensive monitoring of traffic information.
- the camera video detector
- the camera can accurately perceive the characteristic attributes of the vehicle's model, license plate, etc.
- it has poor accuracy when detecting movement attributes such as distance and speed.
- due to the optical characteristics of the camera it is extremely susceptible to interference from the surrounding environment. For example, severe weather conditions such as strong light, rain, snow, and fog will affect the normal operation of the camera, resulting in insufficient accuracy of the information collected.
- the purpose of the present invention is to overcome the deficiencies in the prior art, and propose a method for multi-target information fusion and visual display based on microwave and video, which solves the problem of the limited information collected by a single detector and the inability to visualize the difference between the microwave detector and the video detector.
- the present invention proposes a microwave and video-based multi-target information fusion and visual display method, which is characterized by including the following processes:
- S5 Extract and merge the target information detected by the microwave detector and the video detector and display it on the information frame.
- mapping the target coordinates collected by the microwave detector to the video image collected by the video detector specifically includes the following process:
- Step 1 Establish a coordinate system XYZ with the center of the microwave detector as the origin; record the coordinates of the target (vehicle) collected by the microwave detector in this coordinate system as (X W , Y W , Z W ), and set this target An identifier;
- Step 2 Establish a coordinate system X'Y'Z' with the center of the video detector as the origin.
- the video detector shoots an image with the target vehicle information, and establishes the coordinate system with the upper left corner of the picture as the origin;
- Step 3 Transform the coordinates (X W , Y W , Z W ) in the coordinate system of the microwave detector to the coordinates (X C , Y C , Z C ) in the coordinate system of the video detector; then change the coordinate system of the video detector
- the coordinates (X C , Y C , Z C ) below are projected to the coordinates (X S , Y S ) in the picture coordinate system.
- the calculation formula for transforming the coordinates (X w , Y w , Z w ) in the microwave detector coordinate system to the video detector coordinate system (X c , Y c , Z c ) is:
- ⁇ is the horizontal viewing angle of the target in the video detector
- Is the vertical viewing angle of the target in the video detector
- v the width of the image
- h the height of the image.
- the formation method information frame is: take a microwave detector collected target coordinates (X W, Y W, Z W) , the target coordinates (X W, Y W, Z W) for (X W ⁇ 1, Y W ⁇ 1, Z W ) (unit m) operation, the four different coordinate values of the target are (X W +1, Y W -1, Z W ), (X W +1, Y W +1 ,Z W ), (X W -1,Y W -1,Z W ), (X W -1,Y W +1,Z W ), respectively mapped to the video image collected by the video detector, so that There are 4 different points in the image, and the 4 points are connected to form the target information frame.
- the formation method information block may also be: to take a microwave detector collected target coordinates (X W, Y W, Z W) , the target coordinates (X W, Y W, Z W) for (X W ⁇ 1, Y W ⁇ 1, Z W ) operation, the four different coordinate values corresponding to the target are (X W +1, Y W -1, Z W ), (X W +1, Y W +1 ,Z W ), (X W -1,Y W -1,Z W ), (X W -1,Y W +1,Z W ),
- the rotation angle needs to be adjusted downwards. If the information frame and the target are not on the same horizontal line and tilt downward, the rotation angle needs to be adjusted upwards until the information frame and the target are on the same horizontal line on;
- the displacement needs to be adjusted downwards, if the information frame appears below the target, the displacement needs to be adjusted upwards until the information frame coincides with the target in the up and down direction;
- the displacement needs to be adjusted backward, if the information frame appears behind the target, the displacement needs to be adjusted forward until the information frame coincides with the target in the front and rear directions;
- the horizontal viewing angle of the video sensor needs to be increased. If the compactness of the information frame is smaller than the target in the horizontal direction, the horizontal viewing angle of the video sensor needs to be reduced until the compactness of the information box is Consistent with the target in the horizontal direction;
- the vertical viewing angle of the video sensor needs to be increased.
- the vertical viewing angle of the video sensor needs to be reduced until the compactness of the information frame Align with the target in the vertical direction.
- the target information displayed on the information box includes identifier, speed, distance, car model and license plate information.
- the beneficial effects achieved by the present invention are: the present invention superimposes the information collected by the microwave detector on the image of the video detector, extracts and fuses the detected information of the microwave detector and the video detector, and then displays it in the information On the frame, to realize the fusion and visualization of the two information, facilitate the investigation and evidence collection of the detection results of the microwave detector, meet the needs of comprehensive monitoring of traffic information, and realize multiple data detection and analysis and early warning of various traffic incidents.
- the angle, displacement and other parameters between the microwave detector and the video detector do not need to be manually measured.
- the empirical value can be used to calculate the information superposition and then the accurate parameters can be obtained through adjustment. The process is simple and accurate.
- Figure 1 is a schematic diagram of the installation of a microwave detector and a video detector
- Figure 2 is a schematic diagram of the coordinate system of a microwave detector
- Figure 3 is a schematic diagram of a video detector coordinate system
- Figure 4 is a schematic diagram of an image coordinate system
- Figure 5 is a schematic diagram of the flow of information frame adjustment
- Fig. 6 is a schematic diagram of the recognition result of each target in the image.
- the microwave and video-based multi-target information fusion and visual display method of the present invention includes the following processes:
- a microwave detector and a video detector are fixedly installed on the poles of the intersection in turn, the microwave detector and the video detector are facing the road to be detected, and the two are adjusted to a uniform time.
- the three-dimensional coordinate system xyz is established with the intersection point between the rod and the support rod as the coordinate origin, where the rod direction is the x axis (the rod orientation is the positive direction of the x axis), and the support rod direction is the y axis (downwards is the positive y axis) Direction), the vertical direction is the z-axis (the orientation of the probe of the microwave detector and the camera of the video detector is the positive direction of the z-axis).
- the positional relationship between the microwave detector and the video detector is obtained.
- the difference in the x direction is the left and right displacement
- the difference in the z direction is the front and back displacement
- the difference in the y axis is the up and down displacement (ie translation matrix t1, t2 , T3).
- S2 Map the target coordinates collected by the microwave detector to the video image collected by the video detector.
- Step 1 Establish a coordinate system XYZ (referred to as the microwave detector coordinate system) with the center of the microwave detector as the origin, as shown in Figure 2, where the indication direction of the microwave detector probe is the Z axis (the probe orientation is the positive direction of the Z axis), The horizontal direction is the X axis, and the direction perpendicular to the XZ axis is the Y axis (downwards is the positive direction of the Y axis); record the coordinates of the target (vehicle) collected by the microwave detector in this coordinate system as (X W , Y W , Z W ), and set an identifier (unique) for this target;
- the indication direction of the microwave detector probe is the Z axis (the probe orientation is the positive direction of the Z axis)
- the horizontal direction is the X axis
- the direction perpendicular to the XZ axis is the Y axis (downwards is the positive direction of the Y axis)
- Step 2 Establish a coordinate system X'Y'Z' (referred to as the video detector coordinate system) with the center of the video detector as the origin, as shown in Figure 3, the direction indicated by the camera of the video detector is the Z'axis (camera orientation Is the positive direction of the Z'axis), the horizontal direction is the X'axis direction, and the direction perpendicular to the X'Z' axis is the Y'axis (downwards is the positive direction of the Y'axis).
- the direction indicated by the camera of the video detector is the Z'axis (camera orientation Is the positive direction of the Z'axis)
- the horizontal direction is the X'axis direction
- the direction perpendicular to the X'Z' axis is the Y'axis (downwards is the positive direction of the Y'axis).
- the video detector takes a picture with the target
- a coordinate system (referred to as a picture coordinate system) is established with the upper left corner of the picture as the origin, as shown in Figure 4, the horizontal right is the X axis, and the vertical downward is the Y axis;
- Step 3 Transform the coordinates (X W , Y W , Z W ) in the coordinate system of the microwave detector to the coordinates (X C , Y C , Z C ) in the coordinate system of the video detector; then change the coordinate system of the video detector
- the coordinates (X C , Y C , Z C ) below are projected to the coordinates (X S , Y S ) in the picture coordinate system.
- the angle at which the microwave detector rotates around the X axis is the pitch angle; the angle rotated around the Y axis is the tilt angle, and the angle rotated around the Z axis is the deflection angle.
- the three directions of the video detector's coordinate system are consistent with those of the microwave detector, so the angles at which the video sensor rotates around X', Y', and Z'are pitch angle, tilt angle, and deflection angle, respectively.
- the calculation formula for transforming the coordinates (X w , Y w , Z w ) in the microwave detector coordinate system to the video detector coordinate system (X c , Y c , Z c ) is:
- ⁇ is the horizontal viewing angle of the target in the video detector
- Is the vertical viewing angle of the target in the video detector
- v the width of the image
- h is the height of the image.
- the horizontal angle of view and the vertical angle of view are the camera parameters of the video detector, which can be set in advance or modified in the subsequent debugging process.
- the width and height of the picture are determined by the horizontal and vertical pixel sizes of the video detector camera.
- One frame of pictures taken by the video sensor forms a video, and the vehicle may overlap. According to the unique identifier set by the vehicle, the accurate identification of each vehicle is realized.
- the formation of the information frame is: take the target coordinates (X W , Y W , Z W ) collected by the microwave detector, and perform (X W ⁇ 1, Y W ⁇ ) the target coordinates (X W , Y W , Z W ) 1.
- Z W (unit m) operation, the four different coordinate values of the target obtained are (X W +1, Y W -1, Z W ), (X W +1, Y W +1, Z W ), (X W -1, Y W -1, Z W ), (X W -1, Y W +1, Z W ), respectively mapped to the video image collected by the video detector, so as to obtain 4 different points, 4 points are connected in sequence to form the target information box.
- the information frame can also be formed by projecting the target coordinates (X W , Y W , Z W ) into the image as the center point of the information frame, taking any one of the four different coordinate values of the target and combining It is mapped to the video image collected by the video detector, and connects the point of the coordinate mapped to the image and the center point of the information frame to form the diagonal of any regular polygon, which is the target information frame.
- S4 Adjust the angle, displacement or viewing angle of the video detector until the information frame overlaps the target in the image.
- the rotation angle needs to be adjusted downwards. If the information frame and the target are not on the same horizontal line and tilt downward, the rotation angle needs to be adjusted upwards until the information frame and the target are on the same horizontal line on;
- the displacement needs to be adjusted downwards. If the information frame appears below the target, the displacement needs to be adjusted upwards until the information frame coincides with the target in the up and down direction;
- the displacement needs to be adjusted backward, if the information frame appears behind the target, the displacement needs to be adjusted forward until the information frame coincides with the target in the front and rear directions;
- the horizontal viewing angle of the video sensor needs to be increased. If the compactness of the information frame is smaller than the target in the horizontal direction, the horizontal viewing angle of the video sensor needs to be reduced until the compactness of the information box is Consistent with the target in the horizontal direction;
- the vertical viewing angle of the video sensor needs to be increased.
- the vertical viewing angle of the video sensor needs to be reduced until the compactness of the information frame Align with the target in the vertical direction.
- the deflection angle, pitch angle, and tilt angle are all 0; the front and rear, left and right, and up and down displacements are all 0; the horizontal viewing angle is 40, the vertical viewing angle is 22; confirm the video detector
- the horizontal pixels of the screen are 1920 and the vertical pixels are 1080.
- the debugging process of the message box is:
- Pitch angle the vertical pitch angle of the video detector camera (up and down positive);
- Tilt angle the rotation angle of the video detector screen (clockwise);
- Deflection angle the horizontal deflection angle of the video detector relative to the microwave detector (left negative and right positive);
- Left and right displacement the distance between the video detector and the microwave detector to the left (-) and right (+);
- Front-to-back displacement the distance between the video detector and the microwave detector in front (+) and back (-);
- Horizontal viewing angle the angle formed by the left and right borders of the image and the origin of the video detector. The wider the field of view, the larger the viewing angle;
- Vertical viewing angle The angle formed by the upper and lower boundaries of the image and the origin of the video detector. The wider the field of view, the larger the viewing angle;
- the information box and the target can be completely overlapped.
- Pitch angle When you see that all the information boxes in the video are below the vehicle, and the closer the target in the video, the closer the distance between the information box and the vehicle, indicating that there is an angle between the video detector lens and the horizontal line, and the lens is tilted downward Yes, that's why the car in the screen is above the information box. According to the principle of up-negative and down-positive, adjustment is made to the range of positive numbers.
- the pitch angle is adjusted to about 5.8, and the information frame is basically kept on the same horizontal line as the vehicle.
- Deflection angle After adjusting the pitch angle, it is found that the information frame and the actual vehicle are offset to the right, and the closer the target in the video, the closer the distance between the information frame and the vehicle. This is because the detection direction of the microwave detector antenna does not necessarily coincide with the camera lens orientation, or the horizontal angle in the microwave detector calibration parameters has been set before, and the deflection angle needs to be adjusted here.
- the information frame is on the left side of the vehicle. According to the principle of left-negative and right-positive, adjust the deflection angle parameter to a negative number. When the deflection angle is adjusted to -2.2, it can basically match the vehicle.
- Tilt angle After the above two steps of adjustment, the video image you see is tilted upwards, indicating that the lens installation is crooked. According to the principle of clockwise being positive, adjust the rotation angle parameter to a positive range. When the tilt angle is adjusted By 0.6, the information box basically rotates to coincide with the vehicle.
- the information frame is basically aligned with the vehicle.
- the left and right displacement parameters of the video detector need to be adjusted to the positive range.
- the information frame is basically aligned with the vehicle.
- the parameters of the front and rear displacement of the video detector need to be adjusted to the negative range, the current rear displacement is adjusted to -2, and the information box is basically aligned with the vehicle.
- the front and back displacement, left and right displacement, and up and down displacement between the two can be defaulted to 0, and no displacement adjustment is required.
- the zoomable video detector when we adjust the focus, the picture will zoom in or out.
- the visible range becomes smaller, which means the viewing angle becomes smaller.
- the concept of perspective is different. Since the focal length of the video detector has been fixed during debugging, the adjustment of the horizontal and vertical viewing angles is essentially a process of inverting the viewing angle based on the actual picture.
- the horizontal viewing angle adjusts the tightness in the horizontal direction
- the vertical viewing angle adjusts the tightness in the vertical direction.
- the horizontal viewing angle is set to 34
- the vertical viewing angle is set to 18.
- the tightness of the information frame is basically reasonable.
- the size of the viewing angle can also be confirmed by checking the lens function parameters of the video detector. If it cannot be obtained, it can be debugged by the above method.
- FIG. 6 After completing the above adjustment of the angle, displacement and viewing angle, the schematic diagram of the overlap of the information frame and the target is shown in FIG. 6.
- This information box displays the target information, including identifier, speed, distance, car model, license plate and other information.
- S5 Extract and merge the target information detected by the microwave detector and the video detector and display it on the information frame.
- Each information frame corresponds to the unique target (vehicle) detected by the microwave detector, extracts the identifier, speed, and distance information of the target uniquely corresponding to the information frame, and extracts the license plate and vehicle type information of the target that overlaps the information frame detected by the video detector , Fusion of the two information is displayed on the information box, as shown in Figure 6, that is, the information box displays the target information including identifier, speed, distance, car model, and license plate information.
- the invention superimposes the information collected by the microwave detector on the image of the video detector, extracts and fuses the detected information of the microwave detector and the video detector and displays it on the information frame, thereby realizing the fusion and visualization of the two information and facilitating microwave detection
- the investigation and evidence collection of detector detection results meet the needs of comprehensive traffic information monitoring, and realize multiple data detection and analysis and early warning of various traffic incidents.
- the angle, displacement and other parameters between the microwave detector and the video detector do not need to be manually measured.
- the empirical value can be used to calculate the information superposition and then the accurate parameters can be obtained through adjustment.
- the process is simple and accurate.
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Abstract
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Claims (8)
- 基于微波与视频的多目标信息融合及可视化展示方法,其特征是,包括以下过程:S1,在杆件上布设微波检测器和视频检测器,并将二者时间校调统一;S2,将微波检测器采集到的目标坐标映射到视频检测器采集到的视频图像中;S3,将映射到图像中的点连接形成目标的信息框,并将信息框叠加在图像中;S4,调整视频检测器的角度、位移或视角,直至信息框与图像中目标重叠;S5,提取并融合微波检测器和视频检测器检测到的目标信息后显示在信息框上。
- 根据权利要求1所述的基于微波与视频的多目标信息融合及可视化展示方法,其特征是,将微波检测器采集到的目标坐标映射到视频检测器采集到的视频图像中包括以下具体过程:步骤1,以微波检测器中心为原点建立三维坐标系XYZ;记微波检测器采集到目标车辆在该坐标系下的坐标为(X W,Y W,Z W),并给此目标设定一个标识符;步骤2,以视频检测器中心为原点建立三维坐标系X′Y′Z′,视频检测器拍摄一张带有该目标车辆信息的图像,以该图片的左上角为原点建立二维坐标系;步骤3,将微波检测器坐标系中的坐标(X W,Y W,Z W)变换到视频检测器坐标系下坐标(X C,Y C,Z C);然后再将视频检测器坐标系下的坐标(X C,Y C,Z C)投影至该图片坐标系下的坐标(X S,Y S)。
- 根据权利要求2所述的基于微波与视频的多目标信息融合及可视化展示方法,其特征是,将微波检测器坐标系中的坐标(X W,Y W,Z W)变换到视频检测器坐标系下坐标(X C,Y C,Z C)的过程为:(1)微波检测器坐标系到视频检测器坐标系的转换a)微波检测器坐标系绕X轴顺时针旋转α角,旋转的α角为微波检测器安装角度与视频检测器安装角度的俯仰角之差,旋转后各坐标点的转换公式为:X′=XY′=Y*cos(α)+Z*sin(α)Z′=-Y*sin(α)+Z*cos(α)b)微波检测器坐标系绕Y轴旋转β角,旋转的β角为微波检测器安装角度与视频检测器安装角度的偏转角之差,旋转后各坐标点的转换公式为:X″=X′*cos(β)-Z′*sin(β)Y″=Y′Z″=X′*sin(β)+Z′*cos(β)c)微波检测器坐标系绕Z轴旋转θ角,旋转的θ角为微波检测器安装角度与视频检测器安装角度的倾斜角之差,旋转后各坐标点的转换公式为:X″′=X″*cos(θ)+Y″*sin(θ)Y″′=-X″*sin(θ)+Y″*cos(θ)Z″′=Z″d)再沿X轴平移为t 1,沿Y轴平移为t 2,沿Z轴平移为t 3;其中t 1为微波检测器与视频检测器安装位置的左右位移,t 2为微波检测器与视频检测器安装位置的上下位移,t 3为微波检测器与视频检测器安装位置的前后位移,即由微波检测器坐标系到视频检测器坐标系的平移矩阵为(2)最终得到将微波检测器坐标系中的坐标(X w,Y w,Z w)变换到视频检测器坐标系(X c,Y c,Z c),变换公式为:即可得由微波检测器坐标系中的坐标(X w,Y w,Z w)变换到视频检测器坐标系(X c,Y c,Z c)的计算公式为:X C=cos(β)cos(θ)X W+cos(β)sin(θ)Y W-sin(β)Z W+t 1Y C=[-cos(α)sin(θ)+sin(α)sin(θ)cos(θ)]X W+[cos(α)cos(θ)+sin(α)sin(β)sin(θ)]Y W+sin(α)cos(β)Z W+t 2Z C=[sin(α)sin(θ)+cos(α)sin(β)cos(θ)]X W+[-sin(α)cos(θ)+cos(α)sin(β)sin(θ)]Y W+cos(α)cos(β)Z W+t 3。
- 根据权利要求1所述的基于微波与视频的多目标信息融合及可视化展示方法,其特征是,将映射到图像中的点连接形成目标的信息框的过程是:取微波检测器采集到的目标坐标(X W,Y W,Z W),对目标坐标(X W,Y W,Z W)进行(X W±1,Y W±1,Z W)操作,得到该目标对应的4个不同的坐标值分别是(X W+1,Y W-1,Z W)、(X W+1,Y W+1,Z W)、(X W-1,Y W-1,Z W)、(X W-1,Y W+1,Z W),分别映射到视频检测器采集到的视频图像中,从而在图像中得到4个不同的点,4点依次连接形成目标的信息框。
- 根据权利要求1所述的基于微波与视频的多目标信息融合及可视化展示方法,其特征是,信息框具体调整的过程如下:(1)信息框与目标之间的距离由近及远越来越大,调整视频传感器的角度:若信息框出现在目标的上方,需要向下调整俯仰角,若信息框出现在目标的下方,需要向上调整俯仰角,直到信息框在上下方向上与目标重合;若信息框出现在目标的左边,需要向右调整偏转角,若信息框出现在目标的右边,需要向左调整偏转角,直到信息框在左右方向上与目标重合;若信息框与目标不在同一个水平线上向上倾斜时,需要向下调整旋转角,若信息框与目标不在同一个水平线上向下倾斜时,需要向上调整旋转角,直到信息框与目标处于同一水平线上;(2)信息框与目标之间的距离由近及远越来越小,调整视频传感器的位移:若信息框出现在目标的上方,需要向下调整位移,若信息框出现在目标的下方,需要向上调整位移,直到信息框在上下方向上与目标重合;若信息框出现在目标的左边,需要向右调整位移,若信息框出现在目标的右边,需要向左调整位移,直到信息框在左右方向上与目标重合;若信息框出现在目标的前边,需要向后调整位移,若信息框出现在目标的后边,需要向前调整位移,直到信息框在前后方向上与目标重合;(3)信息框与目标之间的紧密程度由近及远越来越严重,调整视频传感器的视角:若信息框的紧密程度在水平方向上大于目标,需要调大视频传感器的水平视角,若信息框的紧密程度在水平方向上小于目标,需要调小视频传感器的水平视角,直到信息框的紧密程度在水平方向上与目标一致;若信息框的紧密程度在垂直方向上大于目标,需要调大视频传感器的垂直视角,当信息框的紧密程度在垂直方向上小于目标,需要调小视频传感器的垂直视角,直到信息框的紧密程度在垂直方向上与目标一致。
- 根据权利要求1-7所述的任意一种基于微波与视频的多目标信息融合及可视化展示方法,其特征是,信息框上展示此目标的信息包括标识符、速度、距离、车型和车牌信息。
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