drone_perception_fusion#3369
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添加一个了错误分析
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# Drone Perception Module ## 概述 无人机感知模块，提供目标检测、深度估计和障碍物感知功能。 ## 功能特性 - 基于颜色的目标检测 - 基于图像强度的深度估计 - 障碍物检测与安全评分 - 结果可视化
# Drone Perception Module ## 概述 无人机感知模块，提供目标检测、深度估计和障碍物感知功能。 ## 功能特性 - 基于颜色的目标检测（红、绿、蓝、黄） - 基于图像强度的深度估计 - 障碍物检测与安全评分 - 结果可视化（保存为图像文件） - 无GUI依赖，适合服务器环境
主要改进和特性： ### 1. **多传感器支持** - 添加了LiDAR、IMU和GPS传感器接口 - 实现了虚拟传感器用于模拟和测试 - 提供了传感器标定和数据变换功能 ### 2. **数据融合算法** - 时间同步：对齐不同传感器的时间戳 - 空间标定：坐标系变换和校准 - 数据关联：匹配不同传感器的检测结果 - 状态估计：融合多源信息估计物体状态 ### 3. **环境建模** - 占据栅格地图构建 - 3D物体检测和跟踪 - 实时安全评估 ### 4. **系统集成** - 统一的传感器数据接口 - 模块化的融合架构 - 实时性能优化 ### 5. **可视化输出** - 融合结果可视化 - 占据栅格地图显示 - 数据导出和记录
修复视觉安全分数为0的问题： 简化了视觉安全分数计算，不再基于障碍物检测 现在只基于目标数量计算安全分数 修复融合物体为0的问题： 改进了关联算法，即使没有LiDAR匹配也使用视觉检测 增加了关联阈值到5米 改进了LiDAR点云聚类算法 简化了代码结构： 移除了复杂的坐标系变换 简化了3D位置估计 改进了虚拟LiDAR模拟 改进了可视化输出： 显示更多状态信息 改进了颜色和布局
donghaiwang
approved these changes
Dec 16, 2025
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创造drone_perception_fusion.py
主要改进和特性：
1. 多传感器支持
2. 数据融合算法
3. 环境建模
4. 系统集成
5. 可视化输出