多传感器信息融合的构件吊装行人检测与定位  

Pedestrian Detection and Positioning for Component Hoisting Based on Multi-sensor Information Fusion

作　　者：凌鹤 潘基铎 位权权 LING He;PAN Ji-duo;WEI Quan-quan(Hubei Provincial Key Laboratory of Digital Manufacturing,Wuhan University of Technology,Wuhan 430070,China;School of Mechanical and Electrical Engineering,Wuhan University of Technology,Wuhan 430070,China)

机构地区：[1]武汉理工大学湖北省数字制造重点实验室,武汉430070 [2]武汉理工大学机电工程学院,武汉430070

出　　处：《武汉理工大学学报》2021年第11期81-88,共8页Journal of Wuhan University of Technology

基　　金：国家自然科学基金青年基金(51505355);国家重点研发计划(2017YFC0703903-04)。

摘　　要：针对建筑构件吊运装备现场因空气粉尘浓度大、能见度低而导致行人难以精确检测与定位的问题,提出了一种单目视觉结合毫米波雷达的行人检测与定位方法。该方法将单目相机获取的RGB图像输入到YOLOv4算法中实现行人目标检测,将毫米波雷达获取障碍物的距离信息与单目相机获取行人障碍物目标的像素点坐标信息进行信息融合,进而基于单目视觉的定位原理实现行人目标的空间定位。实验结果表明,行人检测的准确率和召回率分别达到94.09%和93.52%,高于YOLOv3算法的90.79%和89.13%,检测速度达到65FPS;行人定位在横向距离的相对误差为3.52%。该方法具有准确性和快速性,能够较好地实现在吊运装备现场中实时行人检测与定位。Aiming at the problem that it is difficult to accurately detect and locate pedestrians due to high air dust concentration and low visibility at the construction site lifting equipment,apedestrian detection and positioning method based on monocular vision combined with millimeter wave radar is proposed.This method inputs the RGB image obtained by the monocular camera into the YOLOv4 algorithm to achieve pedestrian target detection.The distance information of the obstacle obtained by the millimeter wave radar and the pixel coordinate information of the pedestrian obstacle target obtained by the monocular camera are used for information fusion,and then it based on the positioning principle of monocular vision realizes the spatial positioning of pedestrian targets.Experimental results show that the accuracy and recall rates of pedestrian detection reach 94.09%and 93.52%,respectively,which are higher than 90.79%and 89.13%of the YOLOv3 algorithm,and the detection speed reaches 65 FPS;the relative error of pedestrian positioning in the lateral distance is 3.52%.The method is accurate and rapid,and can better realize real-time pedestrian detection and positioning in the hoisting equipment site.

关 键 词：单目视觉 毫米波雷达 行人检测定位 YOLOv4 信息融合 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]