An Obstacle Perception Algorithm Based on Multi-Sensor Fusion for Autonomous-Rail Rapid Transit
This paper presents an obstacle perception algorithm based on multi-sensor fusion, aimed at addressing omissions and errors, as well as low accuracy in object detection for autonomous-rail rapid transit (ART). In a structure integrating pre-fusion and post-fusion algorithms, this approach combines t...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Control and Information Technology
2024-08-01
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| Series: | Kongzhi Yu Xinxi Jishu |
| Subjects: | |
| Online Access: | http://ctet.csrzic.com/thesisDetails#10.13889/j.issn.2096-5427.2024.04.014 |
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| _version_ | 1849224630643982336 |
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| author | JIANG Liangyu PAN Wenbo HUANG Ruipeng |
| author_facet | JIANG Liangyu PAN Wenbo HUANG Ruipeng |
| author_sort | JIANG Liangyu |
| collection | DOAJ |
| description | This paper presents an obstacle perception algorithm based on multi-sensor fusion, aimed at addressing omissions and errors, as well as low accuracy in object detection for autonomous-rail rapid transit (ART). In a structure integrating pre-fusion and post-fusion algorithms, this approach combines the advantages of range detection by LiDAR, category detection by cameras, and speed detection by millimeter-wave radars. The pre-fusion process, supported by partial sensors, increases detection accuracy while avoiding excessive computational loads to on-board processing systems. Meanwhile, the post-fusion algorithm introduces redundancy to maintain the detection system valid when a single algorithm is out of work, as a means to ensure operational safety. Experimental results showed that the proposed method effectively detected obstacles on the operational tracks, outperforming single-sensor detection in terms of object data, and achieving detection distances longer than 70 m. These findings demonstrate its capabilities in ensuring the safe and stable operation of autonomous-rail rapid trams. |
| format | Article |
| id | doaj-art-2dc31dcd00ba426599c16274dc482af5 |
| institution | Kabale University |
| issn | 2096-5427 |
| language | zho |
| publishDate | 2024-08-01 |
| publisher | Editorial Office of Control and Information Technology |
| record_format | Article |
| series | Kongzhi Yu Xinxi Jishu |
| spelling | doaj-art-2dc31dcd00ba426599c16274dc482af52025-08-25T06:57:12ZzhoEditorial Office of Control and Information TechnologyKongzhi Yu Xinxi Jishu2096-54272024-08-0110210768496365An Obstacle Perception Algorithm Based on Multi-Sensor Fusion for Autonomous-Rail Rapid TransitJIANG LiangyuPAN WenboHUANG RuipengThis paper presents an obstacle perception algorithm based on multi-sensor fusion, aimed at addressing omissions and errors, as well as low accuracy in object detection for autonomous-rail rapid transit (ART). In a structure integrating pre-fusion and post-fusion algorithms, this approach combines the advantages of range detection by LiDAR, category detection by cameras, and speed detection by millimeter-wave radars. The pre-fusion process, supported by partial sensors, increases detection accuracy while avoiding excessive computational loads to on-board processing systems. Meanwhile, the post-fusion algorithm introduces redundancy to maintain the detection system valid when a single algorithm is out of work, as a means to ensure operational safety. Experimental results showed that the proposed method effectively detected obstacles on the operational tracks, outperforming single-sensor detection in terms of object data, and achieving detection distances longer than 70 m. These findings demonstrate its capabilities in ensuring the safe and stable operation of autonomous-rail rapid trams.http://ctet.csrzic.com/thesisDetails#10.13889/j.issn.2096-5427.2024.04.014multi-sensor fusionobstacle detectionautonomous-rail rapid transit (ART)LiDARmillimeter-wave radarcamera |
| spellingShingle | JIANG Liangyu PAN Wenbo HUANG Ruipeng An Obstacle Perception Algorithm Based on Multi-Sensor Fusion for Autonomous-Rail Rapid Transit Kongzhi Yu Xinxi Jishu multi-sensor fusion obstacle detection autonomous-rail rapid transit (ART) LiDAR millimeter-wave radar camera |
| title | An Obstacle Perception Algorithm Based on Multi-Sensor Fusion for Autonomous-Rail Rapid Transit |
| title_full | An Obstacle Perception Algorithm Based on Multi-Sensor Fusion for Autonomous-Rail Rapid Transit |
| title_fullStr | An Obstacle Perception Algorithm Based on Multi-Sensor Fusion for Autonomous-Rail Rapid Transit |
| title_full_unstemmed | An Obstacle Perception Algorithm Based on Multi-Sensor Fusion for Autonomous-Rail Rapid Transit |
| title_short | An Obstacle Perception Algorithm Based on Multi-Sensor Fusion for Autonomous-Rail Rapid Transit |
| title_sort | obstacle perception algorithm based on multi sensor fusion for autonomous rail rapid transit |
| topic | multi-sensor fusion obstacle detection autonomous-rail rapid transit (ART) LiDAR millimeter-wave radar camera |
| url | http://ctet.csrzic.com/thesisDetails#10.13889/j.issn.2096-5427.2024.04.014 |
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