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Research on the Monocular 3D Perception System for Autonomous-rail Rapid Tram
- Source :
- Kongzhi Yu Xinxi Jishu, Iss 5, Pp 25-32 (2023)
- Publication Year :
- 2023
- Publisher :
- Editorial Office of Control and Information Technology, 2023.
-
Abstract
- The 3D perception system functions as one of the core components for the safe operation of autonomous-rail rapid tram. Addressing the limitations of LiDAR systems used for autonomous-rail rapid tram in complex urban environments, such as challenges in perceiving distant objects, insensitivity to color, and potential failure, this paper proposes a pure-vision monocular 3D perception system for autonomous-rail rapid tram. Comprising data preprocessing, model training and model deployment, this vision-based scheme with a full coverage from data collection to on-board deployment enables the 3D perception of obstacles around autonomous-rail rapid tram, thereby improving the operational reliability in complex urban environments. The test results based on the autonomous-rail rapid transit dataset and Waymo open dataset show that the system can effectively perceive the complex road scenes in autonomous-rail rapid transit, achieving a final 3D average precision (AP) of 0.53, reasoning a single-frame of image about 56 ms, and meeting the real-time requirements of autonomous-rail rapid tram for the obstacle perception algorithm.
Details
- Language :
- Chinese
- ISSN :
- 20965427
- Issue :
- 5
- Database :
- Directory of Open Access Journals
- Journal :
- Kongzhi Yu Xinxi Jishu
- Publication Type :
- Academic Journal
- Accession number :
- edsdoj.4cf400f2ce5c4d09aa84020e5d553ed5
- Document Type :
- article
- Full Text :
- https://doi.org/10.13889/j.issn.2096-5427.2023.05.005