Robust Target Detection, Position Deducing and Tracking Based on Radar Camera Fusion in Transportation Scenarios

Multi-target detection and tracking based on fusion of millimeter-wave (MMW) radar and camera play an important role in intelligent transportation system (ITS). However, most previous studies rely heavily on the information from one sensor and assisted by another, or require some additional measurement work. To address this issue, in this paper, we propose a radar-camera fusion method based on position deducing, where the camera and radar serve as mutual reference to deduce the position of the object. Since the azimuth accuracy and target detection rate of visual positioning algorithm are higher than those of radar, the proposed method improve the accuracy of the lateral positioning and reduce the missed detection. Experiments illustrate that the proposed method achieves highprecision positioning with an accuracy of 0. 110m. In addition, when there is at least one reference target, the detection rate and the false alarm rate are approximately 99.15% and 0.03%, respectively.