Author(s)

Xiaoguang Chen, Feng Yan, Tienan Pan, Suining Wu, Bin Li and Zhixin Wang

Corresponding Author

Xiaoguang Chen

ABSTRACT

Intersections are the weakest link in tram operations, where collisions between trams and cars often occur. This paper proposes an intersection object detection algorithm based on camera and radar data fusion using the method of Intersection over Minimum. For camera, this paper proposes a method of constructing the Total Object List for inter-frame target matching, which realizes the measurement of position and velocity. For radar, a combined filtering method is proposed in this paper to improve the detection rate. After experimental tests, it can be seen that the intersection object detection algorithm proposed in this paper makes up for the shortcomings of a single sensor and shows a higher overall performance.

KEYWORDS

Object detection; data fusion; camera; radar