DWD_sensor_fusion
算法介绍见自动驾驶激光雷达、摄像头、毫米波雷达融合算法
激光雷达、摄像头、毫米波雷达多传感器融合及融合动态分配(DWD)算法(ROS)。
激光雷达、摄像头、雷达多传感器融合和动态权重分布 (DWD) 算法 (ROS)。
该项目能够融合激光雷达、雷达和摄像头的目标,并根据卡尔曼滤波方差均值及变化率为各传感器分配动态融合权重,该工程在 ROS melodic中运行。
依赖
Ubuntu 18.04
ROS melodic
CUDA 10.0
Caffe
OpenCV
PCL
克隆这个项目:
cd ~
git clone https://github.com/vincentzhouwenqi/DWD_sensor_fusion.git
构建这个项目:
本项目共有四个文件夹,每个工程需要单独构建。
首先进入DWD_sensor_fusion文件夹
cd DWD_sensor_fusion/
构建 cnn_seg_lidar
安装catkin构建工具:
sudo apt-get install python-catkin-tools
cd cnn_seg_lidar/
catkin build
构建 darknet_yolov4_ros
cd darknet_yolov4_ros/
catkin_make
构建 kitti_player
cd kitti_player/
catkin_make
构建 sensor_fusion
cd sensor_fusion/
catkin_make
运行这个项目
打开一个新的终端
cd kitti_player/
source devel/setup.bash
roslaunch kitti_player kittiplayer_standalone.launch
打开一个新的终端
cd cnn_seg_lidar/
source devel/setup.bash
roslaunch lidar_cnn_seg_detect lidar_cnn_seg_detect.launch
打开一个新的终端
cd darknet_yolov4_ros/
source devel/setup.bash
roslaunch darknet_ros yolo_v4.launch
打开一个新的终端
cd sensor_fusion/
source devel/setup.bash
rosrun pcl_deal pointdeal
打开一个新的终端
cd sensor_fusion/
source devel/setup.bash
rosrun opencv_deal showROI
打开一个新的终端
cd sensor_fusion/
source devel/setup.bash
rosrun depthGet depthget
引文
如有必要,请按以下格式引用参考文献。
《无人驾驶汽车多传感器冗余下的数据融合算法研究》
GB/T 7714-2015 格式的引文
[1]周文起. 无人驾驶汽车多传感器冗余下的数据融合算法研究[D].哈尔滨工业大学,2021.DOI:10.27061/d.cnki.ghgdu.2021.004217.
Bibtex 格式的引文
@mastersthesis{周文起 2021 无人驾驶汽车多传感器冗余下的数据融合算法研究 ,
author={周文起},
title={ 无人驾驶汽车多传感器冗余下的数据融合算法研究 },
school={哈尔滨工业大学},
year={2021},
type={硕士论文},
month={},
}
Multi-target Detection based on Multi-sensor Redundancy and Dynamic Weight Distribution for Driverless Cars
GB/T 7714-2015 格式的引文
[1]Q. Liu, W. Zhou, Y. Zhang and X. Fei, "Multi-target Detection based on Multi-sensor Redundancy and Dynamic Weight Distribution for Driverless Cars," 2021 International Conference on Communications, Information System and Computer Engineering (CISCE), 2021, pp. 229-234, doi: 10.1109/CISCE52179.2021.9446002.
Bibtex 格式的引用:
@INPROCEEDINGS{9446002,
author={Liu, Qinghe and Zhou, Wenqi and Zhang, Yankun and Fei, Xun},
booktitle={2021 International Conference on Communications, Information System and Computer Engineering (CISCE)},
title={Multi-target Detection based on Multi-sensor Redundancy and Dynamic Weight Distribution for Driverless Cars},
year={2021},
volume={},
number={},
pages={229-234},
doi={10.1109/CISCE52179.2021.9446002}}