Patent ID: 11915470
Assignee: QUANZHOU EQUIPMENT MANUFACTURING RESEARCH INSTITUTE
Field: Measurement (Instruments)
Classification: CPC G  Y | IPC G

Claim 5:
6. The target detection method based on fusion of vision, lidar, and millimeter wave radar according to claim 1, wherein:
the step 5 comprises:
processing the original data detected by the lidar to reserve lidar points of the original data detected by the lidar selected within a range of [−0.3, 2.5] meters in a direction perpendicular to a ground plane;
equally slicing the lidar points of the original data detected by the lidar selected within the range of [−0.3, 2.5] meters into four slices;
compressing each of the four slices to form a horizontal two-dimensional image;
combining the horizontal two-dimensional image with intensity information of the lidar points to obtain the point cloud bird's-eye view in a [600 700 5] dimensionality; and
using a neural network model to extract the feature map of the point cloud bird's-eye view and the feature map of the original data detected by the camera, and

a size of the feature map is unchanged from a size of an input image.