Research on multi-sensor fusion detection and tracking technology for autonomous-rail rapid transit tram
To ensure the operational safety of the autonomous-rail rapid transit (ART) trams on the structured roads, it is necessary to improve the efficiency and robustness of obstacle detection and tracking under different road conditions. This paper proposed a multi-target detection and tracking approach b...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Department of Electric Drive for Locomotives
2022-07-01
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| Series: | 机车电传动 |
| Subjects: | |
| Online Access: | http://edl.csrzic.com/thesisDetails#10.13890/j.issn.1000-128X.2022.04.023 |
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| Summary: | To ensure the operational safety of the autonomous-rail rapid transit (ART) trams on the structured roads, it is necessary to improve the efficiency and robustness of obstacle detection and tracking under different road conditions. This paper proposed a multi-target detection and tracking approach based on the fusion of LiDAR and millimeter-wave radar. Firstly, a millimeter-wave radar and LiDAR are used to perceive by single sensor, and the sensing results were merged by using a multi-source fusion algorithm, to generate more accurate detection results. Based on the false alarm filtering algorithm, the problem of false alarm probably caused by the millimeter wave radar was solved. The approach was based on the point cloud range image, and the gradient and distance characteristics to solve the problem of clustering obstacles in changing scenes. The cost function was derived from the characteristics of the segmented point clouds, which improves the robustness of the shape estimation algorithm. The multi-target tracking based on the track information raised the stability of target tracking. To overcome the challenge of heterogeneous sensor fusion, a multi-source sensor asynchronous fusion strategy was applied, which improved the target detection and tracking capabilities on the structured roads. The proposed approach was verified on the real ART trams based on the ROS framework. The test results demonstrate the stability, accuracy and reliability of the proposed approach. |
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| ISSN: | 1000-128X |