Object_Tracking_and_Time_To_Collision_Estimation:来自KITTI数据集的融合相机和LiDAR测量值可检测,跟踪3D空间中的物体并估计碰撞时间

上传者: 42137723 | 上传时间: 2023-05-18 00:00:59 | 文件大小: 132.97MB | 文件类型: ZIP
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目标跟踪和碰撞时间估计 这是Udacity传感器融合纳米度的第二个项目。 我融合了来自KITTI数据集的相机和LiDAR测量值,以检测,跟踪3D空间中的物体并估算碰撞时间。 首先,我用YOLOv3处理图像以检测和分类对象。 下图显示了结果。 基于YOLOv3发现的边界框,我开发了一种通过关键点对应关系随时间跟踪3D对象的方法。 接下来,我使用了两种不同的方法来计算碰撞时间(TTC),分别是基于LiDAR和基于相机的TTC。 环境的结构由主要讲师Andreas Haja构建。 基于LiDAR的TTC 我通过使用齐次坐标将前车的3D LiDAR点投影到2D图像平面中。 投影如下图所示。接下来,我将3D LiDAR点分布到相应的边界框。 最后,我根据不同帧的对应边界框中最接近的3D LiDAR点计算了TTC。 基于摄像头的TTC 我使用检测器/描述符的各种组合来找到每个图像中的关键点,并在

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