An intelligent multi-sensor cooperative perception framework for situational awareness enhancement
An intelligent multi-sensor cooperative perception framework for situational awareness enhancement
复制标题
用于增强态势感知的智能多传感器协作感知框架
DOI：
10.1117/12.2665078
复制
发表时间：
2023
期刊：
影响因子：
--
通讯作者：
Chen, G.
中科院分区：
文献类型：
--
作者：
Zhao, Q.;Li, Y.;Liu, H.;Blasch, E.;Pham, K..;Chen, G.
单传感器（如3D LiDAR相机）虽然感知结果准确，但其提供全面环境信息的感知性能相对有限。因此，多个传感器优选用于战术或民用场景中的监视任务。协同感知是使传感器与其他传感器和基础设施共享感知信息的解决方案之一，扩大覆盖范围并提高周围物体的检测精度，以实现更好的安全和路径规划。然而，需要对无线网络中的多个传感器上的大量传感数据进行有效管理，以保持实时感测。在这项工作中，我们设计了一个完整的协同感知框架，集成了各种网络，图像处理和数据融合技术，以提高多传感器的态势感知性能。该框架使用以信息为中心的网络和深度可扩展性，
Single sensor, such as 3D LiDAR camera, has relatively limited perception performance of providing comprehensive environmental information though the perception results from single sensor is accurate. Therefore, multiple sensors are perferred for surveillant tasks in either tactical or civilian scenarios. Cooperative perception is one of the solution to enable sensors to share sensory information with other sensors and infrastructure, extending coverage and enhancing the detection accuracy of surrounding objects for better safety and path planning. However, an efficient management of the large volume of sensory data across multiple sensors in the wirelss network is needed to maintain real-time sensing. In this work, we design a complete cooperative perception framework with varies networking, image processing and data fusion technologies integrated to enhance the situational awareness performance with multiple sensors. The framework uses information-centric networking and deep reinforc