基于激光雷达与相机融合的城市交叉路口车辆识别技术

Vehicle recognition technology at urban intersection based on fusion of LiDAR and camera

针对单一传感器环境感知系统不可避免存在难以克服的缺陷,将激光雷达与相机进行融合,综合2种传感器的优势,形成互补,提高无人车的环境感知能力.研究了激光雷达与相机的融合技术,将传感器融合技术应用于城市道路交叉路口的目标识别.基于Flood Fill算法的搜索理论与谱聚类算法的切图理论结合,同时考虑点云之间的欧氏距离和空间分布特征,进行激光雷达目标检测方法研究.提出了基于激光雷达与相机融合的目标识别方法,对传统的PnP求解原理进行分析.提出了基于平面法线对齐的方式求解位姿转换关系,并引入遗传算法对求解结果进行优化,利用自动驾驶仿真软件,对激光雷达与相机的融合结果进行仿真验证.结果表明:提出的激光雷达与相机融合方法,可以对城市道路交叉路口中的车辆目标进行准确识别,使无人车在城市道路交叉路口具备感知无人车周围360°范围内目标的能力,保障无人车的安全以及提高无人车的环境理解能力.

To solve the inevitable shortcomings of single sensor environmental perception system,the LiDAR and camera were fused to combine the advantages of the two sensors and form complementarity for improving the environmental perception capability of unmanned vehicles.The fusion technology of LiDAR and camera was investigated and applied for the target recognition at urban intersections.Combining the search theory of Flood Fill algorithm with the tangent theory of spectral clustering algorithm,and considering the Euclidean distance and spatial distribution characteristics between point clouds,the laser radar target detection method was investigated.The target recognition method based on the fusion of LiDAR radar and camera was proposed,and the traditional PnP solving principle was analyzed.The pose transformation relationship was solved based on the plane normal alignment,and the genetic algorithm was introduced to optimize the solution results.The fusion results of LiDAR and camera were simulated and verified by the autonomous driving simulation software.The results show that by the proposed fusion method of LiDAR and camera,the vehicle targets at urban intersections can be accurately recognized,and the unmanned vehicles can perceive targets within 360° range.This can ensure the safety of unmanned vehicles and improve the environmental understanding ability.