Multi-sensor fusion can improve the accuracy and reliability of information perception and is widely used in autonomous driving, smart AGVs, drones, and other intelligent agents. Considering the comprehensive efficien...
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Multi-sensor fusion can improve the accuracy and reliability of information perception and is widely used in autonomous driving, smart AGVs, drones, and other intelligent agents. Considering the comprehensive efficiency and economy, the fusion of millimeter wave (MMW) radar and camera with complementary advantages is a potential solution in autonomous driving perception. The calibration flexibility of the two sensors determines the usability of the perception system. Unlike traditional offline calibration, dynamic calibration allows for flexible calibration using dynamic targets found in the environment. It can be applied when cumbersome offline calibration can not be performed or specific calibration templates are unavailable. The paper proposes dynamic calibration of MMW radar and camera by fusing trajectory constraints and multi-target (radar cross section) RCSs, On the one hand, trajectory constraints can preliminarily achieve the calibration of external parameters. On the other hand, introducing RCS can enhance the accurate tracking of target trajectories, enabling automated trajectory generation. By assigning higher calibration weights to trajectories with larger RCS values, both the calibration accuracy and the robustness of the entire perception system can be further improved. The selection of multiple targets ensures the wide applicability of the calibration results. RCS information reflects the signal-to-noise ratio of the target. Compared with existing traditional methods, this algorithm does not require dedicated calibration equipment. As targets are continuously acquired, more accurate calibration results can be iteratively refined. The algorithm offers high computational efficiency and good performance. Additionally, when sensors become loose while the vehicle is in operation, this algorithm can update the calibration results in conjunction with the system’s miscalibration detection mechanism, ensuring the long-term reliability of the entire system. Si
In this paper, a visibility detection model based on the dark channel prior and image entropy is established to improve the lane line detection algorithm. Our algorithm does not need to preset the target, nor is it af...
In this paper, a visibility detection model based on the dark channel prior and image entropy is established to improve the lane line detection algorithm. Our algorithm does not need to preset the target, nor is it affected by the camera calibration parameters and position. It transforms the visibility calculation problem into the atmosphere transmittance calculation problem and refines the required results through the guided filter, achieving more accurate and stable visibility estimation results. In addition, based on the changing regularity of the visibility over time obtained by the detection model, a mathematical model is established to predict the change of heavy fog. We use ADF to test the visibility obtained in the visibility detection model and calculate the autocorrelation and partial autocorrelation functions. Finding the original sequence non-stationary, we perform the difference on the data, remove all insignificant factors and then incorporate the data into ARIMA model for fitting, finally getting the fitting and prediction results. The results are found similar to the actual situation, indicating that the results obtained by the visibility prediction model are robust and reliable.
In order to change the current disadvantages of traditional large equipment maintenance concept, this article plans to apply the technical method of prognostics and health management to optimize equipment maintenance ...
In order to change the current disadvantages of traditional large equipment maintenance concept, this article plans to apply the technical method of prognostics and health management to optimize equipment maintenance strategy and develop large equipment maintenance system. Combined with the maintenance procedures of various phases in life cycle, it concluded the formulation methods of maintenance program and implement plans of maintenance work. In the meantime, it takes account into the example of the dredger powersystem of the Waterway Bureau to establish the auxiliary platform of ship maintenance system in life cycle.
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