A machine learning joint lidar and radar classification system in urban automotive scenarios
ADVANCES IN RADIO SCIENCE(2019)
摘要
This work presents an approach to classify road users as pedestrians, cyclists or cars using a lidar sensor and a radar sensor. The lidar is used to detect moving road users in the surroundings of the car. A 2-dimensional range-Doppler window, a so called region of interest, of the radar power spectrum centered at the object's position is cut out and fed into a convolutional neural network to be classified. With this approach it is possible to classify multiple moving objects within a single radar measurement frame. The convolutional neural network is trained using data gathered with a test vehicle in real urban scenarios. An overall classification accuracy as high as 0.91 is achieved with this approach. The accuracy can be improved to 0.94 after applying a discrete Bayes filter on top of the classifier.
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关键词
Automotive Radar,Cognitive Radar,Target Detection,Automatic Target Recognition,Doppler Radar
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