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基于BEV占位预测的激光-毫米波雷达融合目标检测算法
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作者 李越豪 王邓江 +2 位作者 鉴海防 王洪昌 程清华 《计算机科学》 CSCD 北大核心 2024年第6期215-222,共8页
激光雷达工作环境中的光束衰减和目标遮挡会导致输出点云出现远端稀疏的问题,从而引起基于激光雷达的3D目标检测算法的检测精度随距离衰减的现象。针对这一问题,提出了一种基于鸟瞰图视角(BEV)空间内目标占位预测的激光-毫米波雷达融合... 激光雷达工作环境中的光束衰减和目标遮挡会导致输出点云出现远端稀疏的问题,从而引起基于激光雷达的3D目标检测算法的检测精度随距离衰减的现象。针对这一问题,提出了一种基于鸟瞰图视角(BEV)空间内目标占位预测的激光-毫米波雷达融合目标检测算法。首先提出了一种简化的BEV占位预测子网络,用于生成位置相关的毫米波雷达特征,同时有助于解决毫米波雷达数据稀疏带来的网络收敛困难的问题。然后,为了实现跨模态特征融合,设计了一种基于BEV空间特征关联的多尺度激光-毫米波雷达特征融合层结构。在nuScenes数据集上进行实验,结果表明,所提出的毫米波雷达分支网络的平均检测精度(mAP)达到21.6%,推理时间为8.3ms。在加入融合层结构后,多模态检测算法较基线算法CenterPoint的mAP提升了2.9%,同时增加的额外推理时间开销仅为8.6ms,在距离传感器30m位置处,多模态算法对于nuScenes数据集中10个类别的检测精度达成率分别较CenterPoint提升了2.1%~16.0%。 展开更多
关键词 3D目标检测 激光雷达 毫米波雷达 占位预测 鸟瞰图视角 特征融合
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Available parking space occupancy change characteristics and short-term forecasting model 被引量:5
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作者 季彦婕 王炜 邓卫 《Journal of Southeast University(English Edition)》 EI CAS 2007年第4期604-608,共5页
Based on an available parking space occupancy (APSO) survey conducted in Nanjing, China, an APSO forecasting model is proposed. The APSO survey results indicate that the time series of APSO with different time-secti... Based on an available parking space occupancy (APSO) survey conducted in Nanjing, China, an APSO forecasting model is proposed. The APSO survey results indicate that the time series of APSO with different time-sections are periodical and self-similar, and the fluctuation of the APSO increases with the decrease in time-sections. Taking the short-time change behavior into account, an APSO forecasting model combined wavelet analysis and a weighted Markov chain is presented. In this model, an original APSO time series is first decomposed by wavelet analysis, and the results include low frequency signals representing the basic trends of APSO and several high frequency signals representing disturbances of the APSO. Then different Markov models are used to forecast the changes of low and high frequency signals, respectively. Finally, integrating the predicted results induces the final forecasted APSO. A case study verifies the applicability of the proposed model. The comparisons between measured and forecasted results show that the model is a competent model and its accuracy relies on real-time update of the APSO database. 展开更多
关键词 available parking space occupancy change characteristics short-term forecasting wavelet analysis weighted Markov chain
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