How to improve the probability of registration and precision of localization is a hard problem, which is desiderated to solve. The two basic approaches (normalized cross-correlation and phase correlation) for image re...How to improve the probability of registration and precision of localization is a hard problem, which is desiderated to solve. The two basic approaches (normalized cross-correlation and phase correlation) for image registration are analysed, two improved approaches based on spatial-temporal relationship are presented. This method adds the correlation matrix according to the displacements in x- cirection and y- directions, and the registration pose is searched in the added matrix. The method overcomes the shortcoming that the probability of registration decreasing with area increasing owing to geometric distortion, improves the probability and the robustness of registration.展开更多
The perception module of advanced driver assistance systems plays a vital role.Perception schemes often use a single sensor for data processing and environmental perception or adopt the information processing results ...The perception module of advanced driver assistance systems plays a vital role.Perception schemes often use a single sensor for data processing and environmental perception or adopt the information processing results of various sensors for the fusion of the detection layer.This paper proposes a multi-scale and multi-sensor data fusion strategy in the front end of perception and accomplishes a multi-sensor function disparity map generation scheme.A binocular stereo vision sensor composed of two cameras and a light deterction and ranging(LiDAR)sensor is used to jointly perceive the environment,and a multi-scale fusion scheme is employed to improve the accuracy of the disparity map.This solution not only has the advantages of dense perception of binocular stereo vision sensors but also considers the perception accuracy of LiDAR sensors.Experiments demonstrate that the multi-scale multi-sensor scheme proposed in this paper significantly improves disparity map estimation.展开更多
文摘How to improve the probability of registration and precision of localization is a hard problem, which is desiderated to solve. The two basic approaches (normalized cross-correlation and phase correlation) for image registration are analysed, two improved approaches based on spatial-temporal relationship are presented. This method adds the correlation matrix according to the displacements in x- cirection and y- directions, and the registration pose is searched in the added matrix. The method overcomes the shortcoming that the probability of registration decreasing with area increasing owing to geometric distortion, improves the probability and the robustness of registration.
基金the National Key R&D Program of China(2018AAA0103103).
文摘The perception module of advanced driver assistance systems plays a vital role.Perception schemes often use a single sensor for data processing and environmental perception or adopt the information processing results of various sensors for the fusion of the detection layer.This paper proposes a multi-scale and multi-sensor data fusion strategy in the front end of perception and accomplishes a multi-sensor function disparity map generation scheme.A binocular stereo vision sensor composed of two cameras and a light deterction and ranging(LiDAR)sensor is used to jointly perceive the environment,and a multi-scale fusion scheme is employed to improve the accuracy of the disparity map.This solution not only has the advantages of dense perception of binocular stereo vision sensors but also considers the perception accuracy of LiDAR sensors.Experiments demonstrate that the multi-scale multi-sensor scheme proposed in this paper significantly improves disparity map estimation.
