DWD_sensor_fusion
激光雷达、摄像头、毫米波雷达多传感器和动态分配（DWD）算法（ROS）。 激光雷达、摄像头、雷达多传感器融合和动态权重分布 (DWD) 算法 (ROS)。 该项目可以整合激光雷达、雷达和摄像头的目标，并根据卡尔曼滤波器的平均方差和变化率为每个传感器分配动态集成权重 ROS melodic中运行。
依赖 Ubuntu 18.04 ROS melodic CUDA 10.0 Caffe OpenCV PCL
克隆项目：
DWD_sensor_fusion——github链接
cd ~ git clone https://github.com/vincentzhouwenqi/DWD_sensor_fusion.git 本工程建设：
本项目有四个文件夹，每个项目需要单独建设。 首先进入DWD_sensor_fusion文件夹
cd DWD_sensor_fusion/ 构建 cnn_seg_lidar 安装catkin构建工具：
sudo apt-get install python-catkin-tools cd cnn_seg_lidar/ catkin build 构建 darknet_yolov4_ros
cd darknet_yolov4_ros/ catkin_make 构建 kitti_player
cd kitti_player/ catkin_make 构建 sensor_fusion
cd sensor_fusion/ catkin_make 运行这个项目
打开新终端
cd kitti_player/ source devel/setup.bash roslaunch kitti_player kittiplayer_standalone.launch 打开新终端
cd cnn_seg_lidar/ source devel/setup.bash roslaunch lidar_cnn_seg_detect lidar_cnn_seg_detect.launch 打开新终端
cd darknet_yolov4_ros/ source devel/setup.bash roslaunch darknet_ros yolo_v4.launch 打开新终端
cd sensor_fusion/ source devel/setup.bash rosrun pcl_deal pointdeal 打开新终端
cd sensor_fusion/ source devel/setup.bash rosrun opencv_deal showROI 打开新终端
cd sensor_fusion/ source devel/setup.bash rosrun depthGet depthget 引文
必要时，请参考以下格式。
数据驾驶汽车多传感器冗余数据集成算法研究
GB/T 7714-2015 格式的引文
[1]周文起. 研究无人驾驶汽车多传感器冗余下的数据集成算法[D].2021哈尔滨工业大学.DOI:10.27061/d.cnki.ghgdu.2021.004217. Bibtex 格式的引文
@mastersthesis{周文起 2021 研究无人驾驶汽车多传感器冗余下的数据集成算法 , author={周文起}, title={ 研究无人驾驶汽车多传感器冗余下的数据集成算法 }, school={哈尔滨工业大学}， year={2021}, type={硕士论文}， month={}, } Multi-target Detection based on Multi-sensor Redundancy and Dynamic Weight Distribution for Driverless Cars
GB/T 7714-2015 格式的引文
[1]Q. Liu, W. Zhou, Y. Zhang and X. Fei, "Multi-target Detection based on Multi-sensor Redundancy and Dynamic Weight Distribution for Driverless Cars," 2021 International Conference on Communications, Information System and Computer Engineering (CISCE), 2021, pp. 229-234, doi: 10.1109/CISCE52179.2021.9446002. Bibtex 格式引用：
@INPROCEEDINGS{9446002, author={Liu, Qinghe and Zhou, Wenqi and Zhang, Yankun and Fei, Xun}, booktitle={2021 International Conference on Communications, Information System and Computer Engineering (CISCE)}, title={Multi-target Detection based on Multi-sensor Redundancy and Dynamic Weight Distribution for Driverless Cars}, year={2021}, volume={}, number={}, pages={229-234}, doi={10.1109/CISCE52179.2021.9446002}}