DETR-based binocular measurement system in road environment

Detection transformer (DETR) is a target detection algorithm based on Transformer, which has the advantages of fast detection speed and good detection effect. A measurement system based on DETR and binocular vision principle for people, vehicles, bicycles, signal lights and other targets in road environment was introduced. The principles of binocular ranging, camera calibration, target detection and target matching were analyzed, and the measurement system was constructed on this basis. The target detection algorithm was used to detect the targets in the field of vision, and the principle of binocular vision was used to measure the distance of the detected targets. The source of measurement error in the measurement system was analyzed and the influence on the results was calculated. The algorithm was tested in KITTI data set and real environment. The system baseline is 45 cm, the detection rate of 15 m~80 m specified targets is higher than 90.6%, and the ranging error is less than 5.8%. The proposed algorithm can run in real time on RTX 2080Ti platform.