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1.发明申请公开(公告)号：US20220026547A1
公开(公告)日：2022-01-27
申请号：US17336342
申请日：2021-06-02
申请人： Tsinghua University
发明人： Xinyu ZHANG , Huaping LIU
摘要： An automatic calibration method and system for spatial positions of a laser radar and a camera sensor is provided. The method includes: adjusting a spatial position of the laser radar relative to the camera sensor to obtain a plurality of spatial position relationships of the laser radar and the camera sensor; for a spatial position relationship, calculating a gray value of each laser radar point conforming to the line features after projection as a score, and accumulating scores of all laser radar points as a total score; traversing all the spatial position relationships to obtain a plurality of total scores; and selecting a spatial position relationship of the laser radar and the camera sensor corresponding to a highest total score from the plurality of total scores to serve as a calibrated position relationship of the laser radar and the camera sensor.
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公开(公告)号：US20220207868A1
公开(公告)日：2022-06-30
申请号：US17543777
申请日：2021-12-07
申请人： Tsinghua University
发明人： Xinyu ZHANG , Jun LI , Zhiwei LI , Huaping LIU , Xingang WU
IPC分类号： G06V10/80 , G06V10/77 , G06V10/774 , G06V20/56 , G06V10/82 , G01S13/86 , G01S13/931 , G01S13/89 , G01S7/41
摘要： An all-weather target detection method based on a vision and millimeter wave fusion includes: simultaneously acquiring continuous image data and point cloud data using two types of sensors of a vehicle-mounted camera and a millimeter wave radar; pre-processing the image data and point cloud data; fusing the pre-processed image data and point cloud data by using a pre-established fusion model, and outputting a fused feature map; and inputting the fused feature map into a YOLOv5 detection network for detection, and outputting a target detection result by non-maximum suppression. The method fully fuses millimeter wave radar echo intensity and distance information with the vehicle-mounted camera images. It analyzes different features of a millimeter wave radar point cloud and fuses the features with image information by using different feature extraction structures and ways, so that the advantages of the two types of sensor data complement each other.
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公开(公告)号：US20220229448A1
公开(公告)日：2022-07-21
申请号：US17577044
申请日：2022-01-17
申请人： Tsinghua University
发明人： Xinyu ZHANG , Jun LI , Qifan TAN , Jianxi LUO , Huaping LIU , Kangyao HUANG , Xingang WU
摘要： A takeoff and landing control method of a multimodal air-ground amphibious vehicle includes: receiving dynamic parameters of the multimodal air-ground amphibious vehicle; processing the dynamic parameters by a coupled dynamic model of the multimodal air-ground amphibious vehicle to obtain dynamic control parameters of the multimodal air-ground amphibious vehicle, wherein the coupled dynamic model of the multimodal air-ground amphibious vehicle comprises a motion equation of the multimodal air-ground amphibious vehicle in a touchdown state; and the motion equation of the multimodal air-ground amphibious vehicle in a touchdown state is determined by a two-degree-of-freedom suspension dynamic equation and a six-degree-of-freedom motion equation of the multimodal air-ground amphibious vehicle in the touchdown state; and controlling takeoff and landing of the multimodal air-ground amphibious vehicle according to the dynamic control parameters of the multimodal air-ground amphibious vehicle. The method is used for takeoff and landing control of a multimodal air-ground amphibious vehicle.
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