Abstract: A method for target detection based on a visible camera, an infrared camera, and a LiDAR is provided. The method designates visible light images, infrared images, and LiDAR point clouds, which are synchronously acquired, as inputs, and generates an input pseudo-point cloud using visible light images and infrared images, to realize alignment of multimodal information in a three-dimensional space and fusion feature extraction. Then the method adopts a cascade strategy to output more accurate target detection results step by step. In the present disclosure, different characteristics of multi-sensors are complemented, which improves and extends traditional target detection algorithms, improves the accuracy and robustness of target detection, and realizes multi-category target detection in a road scene.

Abstract: The embodiment of the present disclosure provides a deep neural network (DNN)-based multi-target constant false alarm rate (CFAR) detection method. The method includes: obtaining target values to be measured based on radar IF (IF) signals to be detected, the target values to be measured including a measured frequency value and a measured intensity value of the radar IF signals; obtaining peak sequences based on the target values to be measured; generating a target detection result by processing the peak sequences based on a DNN detector, the DNN detector being a machine learning model; generating approximated maximum likelihood estimation (AMLE) of a scale parameter based on an approximated maximum likelihood estimator; generating a false alarm adjustment threshold based on a preset false alarm rate and the AMLE; and generating a constant false alarm detection result by processing the target detection result based on the false alarm adjustment threshold.

Abstract: The embodiment of the present disclosure provides a deep neural network (DNN)-based multi-target constant false alarm rate (CFAR) detection method. The method includes: obtaining target values to be measured based on radar IF (IF) signals to be detected, the target values to be measured including a measured frequency value and a measured intensity value of the radar IF signals; obtaining peak sequences based on the target values to be measured; generating a target detection result by processing the peak sequences based on a DNN detector, the DNN detector being a machine learning model; generating approximated maximum likelihood estimation (AMLE) of a scale parameter based on an approximated maximum likelihood estimator; generating a false alarm adjustment threshold based on a preset false alarm rate and the AMLE; and generating a constant false alarm detection result by processing the target detection result based on the false alarm adjustment threshold.