| abstract |
The invention discloses a bus lane occupancy detection method based on the fusion of millimeter wave radar and vision. It includes a millimeter-wave radar system, a camera and a data processing system, which is placed on the traffic bar. Identify the bus lane line and determine the ROI area in the video image frame, screen out the radar signal points of the detection target according to conditions such as speed, convert the radar target to the image coordinate system through the projection matrix, and estimate the candidate area; use lightweight The high-level network recognizes traffic objects and performs license plate capture, Kalman filter and Hungarian algorithm for multi-target tracking; traffic objects are judged by license plate information and vehicle characteristics, and if it is not a bus or special vehicle, the vehicle trajectory and bus lane are analyzed. Spatial overlay analysis to record illegal vehicle information. The invention has the advantages of large detection range, large number of detections, high algorithm robustness and accuracy, real-time detection, cost saving and the like, and has good development and application prospects. |