Vehicle target detection algorithm based on fusion of lidar and millimeter wave radar
(1. School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang, Jiangsu 212013, China; 2. Zhenjiang City Jiangsu University Engineering Technology Research Institute, Zhenjiang, Jiangsu 212013, China; 3. Automotive Engineering Research Institute, Jiangsu University, Zhenjiang, Jiangsu 212013, China)
Abstract：To solve the problems of insufficient detection accuracy of the target detection algorithm based on single sensor and slow detection speed of the multisensor fusion algorithm based on image and lidar, a vehicle target detection algorithm was proposed based on the fusion of lidar and millimeter wave radar. The depth information of lidar point cloud and the target information of millimeter wave radar were fully used, and the normalization method was adopted to preprocess the point cloud for generating feature maps. The millimeter wave radar data were fused to generate interested regions, and a multitask classification regression network was designed to achieve vehicle target detection. The training verification was performed on Nuscenes large data set. The results show that the detection accuracy can reach 6052%, and the point cloud detection takes 35 ms per frame. The proposed algorithm can meet the accuracy and realtime requirements of intelligent driving vehicles for vehicle target detection.
王海， 刘明亮，蔡英凤， 陈龙. 基于激光雷达与毫米波雷达融合的车辆目标检测算法[J]. 江苏大学学报（自然科学版）, 2021, 42(4): 389-394.
WANG Hai， LIU Mingliang, CAI Yingfeng, CHEN Long. Vehicle target detection algorithm based on fusion of lidar and millimeter wave radar[J]. Journal of Jiangsu University(Natural Science Eidtion)
, 2021, 42(4): 389-394.
