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Technology of Graphic & Image
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App. Res. of Comp. Printed Article
Vol. 40, 2023 No. 11
3456-3461

Multi-sensor fusion real-time target detection based on data characteristics

Liu Jinchenga,b
Tang Luna,b
Chen Qianbina,b
a. School of Communication & Information Engineering, b. Key Laboratory of Mobile Communication Technology, Chongqing University of Posts & Telecommunications, Chongqing 400065, China
DOI: 10.19734/j.issn.1001-3695.2023.02.0072

Abstract

This paper proposed a fusion object detection algorithm based on sensor data features to further reduce the false detection rate of target detection. Firstly, it used statistical filters to filter the original LiDAR point cloud to reduce the influence of some outlier noise points on the accuracy of point cloud expression. Then, it proposed a ground segmentation algorithm with adaptive slope threshold to solve the problem that fixed threshold would lead to unsatisfactory segmentation when the slope of point cloud ground segmentation changed. Finally, it established a KD(k-dimensional) tree index. It projected the LiDAR-detected 3D target point cloud into the image and match the projection bounding box and the image detection target bounding box by IoU association. It proposed a decision-level-based 3D LiDAR and visual image information fusion algorithm. The test results using the KITTI dataset show that the proposed fusion algorithm reduces the average time spent on point cloud clustering to 173 ms, which is 6% more accurate than the traditional Euclidean distance clustering. The experimental results based on the measured data show that the proposed fusion algorithm reduces the target false detection rate by about 10% compared to the YOLO v4 network.

Foundation Support

国家自然科学基金资助项目(62071078)
重庆市教委科学技术研究项目(KJZD-M201800601)
四川省科技计划资助项目(2021YFQ0053)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2023.02.0072
Publish at: Application Research of Computers Printed Article, Vol. 40, 2023 No. 11
Section: Technology of Graphic & Image
Pages: 3456-3461
Serial Number: 1001-3695(2023)11-039-3456-06

Publish History

[2023-05-06] Accepted Paper
[2023-11-05] Printed Article

Cite This Article

刘晋成, 唐伦, 陈前斌. 基于数据特征的多传感器融合实时目标检测 [J]. 计算机应用研究, 2023, 40 (11): 3456-3461. (Liu Jincheng, Tang Lun, Chen Qianbin. Multi-sensor fusion real-time target detection based on data characteristics [J]. Application Research of Computers, 2023, 40 (11): 3456-3461. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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