Mr. Jiduo Pan Profile

Jiduo Pan

at Wuhan Univ of Technology

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Proceedings Article | 5 October 2021 Paper

Pedestrian detection and positioning for component hoisting based on millimeter wave radar and monocular vision sensor

He Ling, Jiduo Pan

Proceedings Volume 11911, 1191109 (2021) https://doi.org/10.1117/12.2604521

KEYWORDS: Target detection, Detection and tracking algorithms, Cameras, Radar, Extremely high frequency, Imaging systems, Sensors, Feature extraction, Information fusion

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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, a pedestrian 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.

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