CN106997049A - A kind of method and apparatus of the detection barrier based on laser point cloud data - Google Patents
A kind of method and apparatus of the detection barrier based on laser point cloud data Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
Abstract
The invention provides a kind of method and device of the detection barrier based on laser point cloud data, this method includes：The laser point cloud data for the object that Airborne Lidar is measured is obtained, the laser radar is arranged on mobile vehicle；According to the laser point cloud data, the three-dimensional coordinate of each sampled point under mobile vehicle coordinate system is obtained；Grating map is set up, according to the three-dimensional coordinate of each sampled point under the mobile vehicle coordinate system, each sampled point is projected on the corresponding grid of the grating map；According to the grating map, obstacle grid is determined, obstacle grating map is obtained；According to the barrier grating map, the location and shape of barrier are determined.The method that the present invention is provided can accurately determine the location and shape of barrier.
Description
Technical field
The present invention relates to mobile robot technology field, more particularly to a kind of detection barrier based on laser point cloud data
Method and apparatus.
Background technology
Mobile robot is that a class can be by sensor senses environment and oneself state, the real environment now with barrier
In object-oriented autokinetic movement, so as to complete the robot system of certain operation function.Laser radar is actively passed as a kind of
Sensor, derives from itself, be affected by the external environment acquisition reliability and essence smaller, to information with the perception information to object
The characteristics of really property is higher, thus it is widely used in context aware systems.
How from a large amount of three dimensional point clouds that laser radar is obtained the stable and accurate barrier detected in complex environment
Hinder the problem of information is one very difficult.The research of detection of obstacles this respect based on laser radar is relatively more, is usually
The distribution of barrier is determined by measuring the elevation information in front of Autonomous Vehicles.
During the present invention is realized, the inventors discovered that at least there is problems with the prior art：
By measuring the elevation information in front of Autonomous Vehicles, it is determined that barrier maldistribution it is true, it is impossible to effectively instruct move
The traveling of mobile robot.
The content of the invention
In view of this, the present invention provides a kind of obstacle detection method and device based on laser point cloud data, acquisition
The shape of barrier and position are more accurate.
Specifically, including following technical scheme：
On the one hand, the invention provides a kind of method of the detection barrier based on laser point cloud data, including：
The laser point cloud data for the object that Airborne Lidar is measured is obtained, the laser radar is arranged on mobile vehicle；
According to the laser point cloud data, the three-dimensional coordinate of each sampled point under mobile vehicle coordinate system is obtained；
Grating map is set up, will be described every according to the three-dimensional coordinate of each sampled point under the mobile vehicle coordinate system
Individual sampled point is projected on the corresponding grid of the grating map；
According to the grating map, obstacle grid is determined, obstacle grating map is obtained；
According to the barrier grating map, the location and shape of barrier are determined.
Selectively, after the laser point cloud data for the object that the acquisition Airborne Lidar is measured, methods described is also
Including：
According to the laser point cloud data, fitting obtains a plurality of curve, and pair is more than in advance with the distance of the laser radar
If the corresponding curve of the sampled point of distance carries out two-dimensional linear interpolation, obtain multiple interpolation points, using the multiple interpolation point as
A part for laser point cloud data.
Selectively, it is described according to the laser point cloud data, obtain three of each sampled point under mobile vehicle coordinate system
Dimension coordinate, including：
According to the laser point cloud data, the three-dimensional coordinate of each sampled point under radar fix system is obtained, and carry out
Rigid transformation, obtains the three-dimensional coordinate of each sampled point under mobile vehicle coordinate system.
Selectively, grating map is set up described, according to three of each sampled point under the mobile vehicle coordinate system
Dimension coordinate, after each sampled point is projected on the corresponding grid of the grating map, methods described also includes：
Filter out hanging point and the noise spot in sampled point；Wherein,
The hanging point refers to that the difference in height with the mobile vehicle in the vertical direction is more than preset height value and is less than
The sampled point that two radar lines are scanned；
The noise spot refers to do not have sampled point in other grids in the preset range of the grid at place, and less than two
The sampled point that radar line is scanned.
Selectively, it is described according to the grating map, obstacle grid is determined, obstacle grating map is obtained, including：
The Grad of each sampled point in the grating map is calculated, if the Grad of a certain sampled point is more than first
Predetermined threshold value, then the sampled point is barrier point, and the grid where the sampled point is the first obstacle grid；
The maximum height difference of all sampled point in the vertical directions in a certain grid in the grating map is calculated, if
The maximum height difference of the grid is more than the second predetermined threshold value, then the grid is the second obstacle grid；If there was only one in a certain grid
Individual sampled point and Grad are more than first predetermined threshold value, then the grid is the second obstacle grid；
Select in the grating map at the same for the first obstacle grid and the second obstacle grid grid as the 3rd obstacle
Grid；
If the number of the 3rd obstacle grid in each two grids of the four direction up and down of a certain 3rd obstacle grid
Amount is more than predetermined number, then is obstacle grid by the 3rd obstacle grid tag；
By all obstacle grids formation obstacle grating map in the grating map.
Selectively, methods described also includes：
Multiple template is chosen, each template and the obstacle grid of the obstacle grid composition in the obstacle grating map is calculated
The coefficient correlation of block, the coefficient correlation and the 3rd predetermined threshold value that are obtained according to calculating determine the shape of barrier；
The change of the three-dimensional coordinate of the sampled point gathered according to the laser radar, determines the movement velocity of the barrier
And direction.
On the other hand, present invention also offers a kind of device of the detection barrier based on laser point cloud data, including：
First acquisition module, the laser point cloud data for obtaining the object that Airborne Lidar is measured, the laser radar
On mobile vehicle；
Second acquisition module, for according to the laser point cloud data, obtaining each sampled point under mobile vehicle coordinate system
Three-dimensional coordinate；
Module is set up, for setting up grating map, according to the three-dimensional of each sampled point under the mobile vehicle coordinate system
Coordinate projects each sampled point on the corresponding grid of the grating map；
3rd acquisition module, for according to the grating map, determining obstacle grid, obtains obstacle grating map；
First determining module, for according to the barrier grating map, determining the location and shape of barrier.
Selectively, described device also includes first processing module, for obtaining Airborne Lidar in the first acquisition module
After the laser point cloud data of the object measured,
According to the laser point cloud data, fitting obtains a plurality of curve, and pair is more than in advance with the distance of the laser radar
If the corresponding curve of the sampled point of distance carries out two-dimensional linear interpolation, obtain multiple interpolation points, using the multiple interpolation point as
A part for laser point cloud data.
Selectively, second acquisition module specifically for：
According to the laser point cloud data, the three-dimensional coordinate of each sampled point under radar fix system is obtained, and carry out
Rigid transformation, obtains the three-dimensional coordinate of each sampled point under mobile vehicle coordinate system.
Selectively, described device also includes Second processing module, for setting up grating map, root in the module of setting up
According to the three-dimensional coordinate of each sampled point under the mobile vehicle coordinate system, by each sampled point with projecting the grid
After on the corresponding grid of figure,
Filter out hanging point and the noise spot in sampled point；Wherein,
The hanging point refers to that the difference in height with the mobile vehicle in the vertical direction is more than preset height value and is less than
The sampled point that two radar lines are scanned；
The noise spot refers to that other grids in the preset range of the grid at place do not have sampled point, and less than two thunders
The sampled point scanned up to line.
Selectively, the 3rd acquisition module specifically for：
The Grad of each sampled point in the grating map is calculated, if the Grad of a certain sampled point is more than first
Predetermined threshold value, then the sampled point is barrier point, and the grid where the determination sampled point is the first obstacle grid；
The maximum height difference of all sampled point in the vertical directions in a certain grid in the grating map is calculated, if
The maximum height difference of the grid is more than the second predetermined threshold value, it is determined that the grid is the second obstacle grid；If in a certain grid only
There is a sampled point and Grad is more than first predetermined threshold value, it is determined that the grid is the second obstacle grid；
Select in the grating map at the same for the first obstacle grid and the second obstacle grid grid as the 3rd obstacle
Grid；
If the number of the 3rd obstacle grid in each two grids of the four direction up and down of a certain 3rd obstacle grid
Amount is more than predetermined number, then is obstacle grid by the 3rd obstacle grid tag；
By all obstacle grids formation obstacle grating map in the grating map.
Selectively, described device also includes the second determining module, is used for：
Multiple template is chosen, each template and the obstacle grid of the obstacle grid composition in the obstacle grating map is calculated
The coefficient correlation of block, the coefficient correlation and the 3rd predetermined threshold value that are obtained according to calculating determine the shape of barrier；
The change of the three-dimensional coordinate of the sampled point gathered according to the laser radar, determines the movement velocity of the barrier
And direction.
The beneficial effect of technical scheme provided in an embodiment of the present invention：
The invention provides a kind of method and device of the detection barrier based on laser point cloud data, pass through swashing for acquisition
Light cloud data, obtains the three-dimensional coordinate of all sampled points under mobile vehicle coordinate system, and sampled point is projected to the grid of foundation
On lattice map, determine the obstacle grid in grating map, obtain obstacle grating map, and the shape based on this determination barrier and
Position.The method and device that the present invention is provided, passes through the laser point cloud number obtained to the laser radar on mobile vehicle
According to being handled, the shape of the barrier of acquisition and position are more accurate, and mobile vehicle can be achieved in having the environment of barrier
Object-oriented autokinetic movement.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, makes required in being described below to embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1 is a kind of flow chart of the method for the detection barrier based on laser point cloud data in one embodiment of the invention；
Fig. 2 is the front view of laser radar coordinate system in one embodiment of the invention；
Fig. 3 is the side view of laser radar coordinate system in one embodiment of the invention；
Fig. 4 is the top view of laser radar coordinate system in one embodiment of the invention；
Fig. 5 is the signal of terrestrial coordinate system, mobile vehicle coordinate system and laser radar coordinate system in one embodiment of the invention
Figure；
Fig. 6 be one embodiment of the invention in pass through rigid transformation after terrestrial coordinate system, mobile vehicle coordinate system and swash
The schematic diagram of optical radar coordinate system；
Fig. 7 is scan line gradient map in one embodiment of the invention；
Fig. 8 is association area operator schematic diagram in one embodiment of the invention；
Fig. 9 is the schematic diagram of box model in one embodiment of the invention；
Figure 10 is space-time obstacle grid schematic diagram in one embodiment of the invention；
Figure 11 is a kind of block diagram of the device of the detection barrier based on laser point cloud data in one embodiment of the invention.
Embodiment
To make technical scheme and advantage clearer, below in conjunction with accompanying drawing embodiment of the present invention is made into
One step it is described in detail.
Embodiment one
A kind of method of the detection barrier based on laser point cloud data is present embodiments provided, as shown in figure 1, including step
Rapid S101, S102, S103, S104 and S105.It will be made below specific introduction.
Step S101：Obtain the laser point cloud data for the object that Airborne Lidar is measured.
In the present embodiment, laser radar is arranged on mobile vehicle.Laser radar launches laser beam, and detecting laser beam is arrived
After object, receive the signal returned and handled, obtain laser point cloud data.The data returned per beam of laser can pass through
The Internet protocol data bag is returned, and the distance and angle of each sampled point and laser radar that packet includes body surface are believed
Breath, definable laser radar rotate a circle output data be a frame data.
In the place apart from laser radar farther out, the scan line of laser radar is sparse, easily causes the missing inspection of barrier.
According to laser point cloud data, fitting obtains a plurality of curve, and sampled point pair of the distance more than pre-determined distance pair with laser radar
The curve answered carries out two-dimensional linear interpolation, obtains multiple interpolation points, using multiple interpolation points as laser point cloud data a part.
The situation of barrier missing inspection can so be avoided.It should be noted that pre-determined distance can be set as needed, the present invention enters not to this
Row is limited.
Step S102：According to laser point cloud data, the three-dimensional coordinate of each sampled point under mobile vehicle coordinate system is obtained.
The distance and angle with laser radar of the sampled point included in the laser point cloud data obtained in step S101
Information, can be converted to the three-dimensional coordinate using laser radar as the origin of coordinates, and conversion formula used is as follows：
Px=R*cos (ω) * sin (α)
Py=R*cos (ω) * cos (α)
Pz=R*sin (ω)
In formula,
Px--- the coordinate value of sampled point P x-axis；
Py--- the coordinate value of sampled point P y-axis；
Pz--- the coordinate value of sampled point P z-axis；
R --- the distance of sampled point P and laser radar；
ω --- sampled point P and xoy horizontal planes vertical angle；
α --- sampled point P and the angle of x-axis.
As illustrated, Fig. 2 is the front view of laser radar coordinate system, Fig. 3 is the side view of laser radar coordinate system, Fig. 4
For the top view of laser radar coordinate system.
The three-dimensional coordinate of the sampled point obtained by laser radar point cloud data is the seat using laser radar as the origin of coordinates
Three-dimensional coordinate in mark system, the barrier of the present embodiment detection is for mobile vehicle, so needing sampled point
The three-dimensional coordinate using laser radar as the origin of coordinates be converted to using mobile vehicle as the coordinate system of the origin of coordinates in three
Dimension coordinate.It can change by the rotation and translation of matrix, realize that radar fix is tied to the rigid transformation of mobile vehicle coordinate system.Separately
Outside, terrestrial coordinate system can reflect the geographical position residing for mobile vehicle, can also move carrier coordinate system to terrestrial coordinate system
Rigid transformation.
Fig. 5 is the schematic diagram of terrestrial coordinate system, mobile vehicle coordinate system and laser radar coordinate system, and Fig. 6 is by rigidity
The schematic diagram of terrestrial coordinate system, mobile vehicle coordinate system and laser radar coordinate system after conversion.Wherein, OV1-XV1YV1ZV1Generation
Table laser radar coordinate system, OV2-XV2YV2ZV2Represent mobile vehicle coordinate system, OG-XGYGZG、O-XGYGZGRepresent terrestrial coordinate system,
OV-XVYVZVSwashing after the mobile vehicle coordinate system after representative progress rigid transformation, O-X, Y, Z, representative progress rigid transformation
Optical radar coordinate system,The angle of the x-axis of laser radar coordinate system and terrestrial coordinate system after rigid transformation is represented, ψ represents firm
Property conversion after laser radar coordinate system and terrestrial coordinate system z-axis angle, γ represents mobile vehicle after rigid transformation and sits
Mark system and the angle of the y-axis after laser radar coordinate system.
Step S103：Grating map is set up, will be every according to the three-dimensional coordinate of each sampled point under mobile vehicle coordinate system
Individual sampled point is projected on the corresponding grid of grating map.
In the present embodiment, M*N grating maps can be set up, M represents a length of M grid of grating map, and N is with representing grid
A width of N number of grid of figure.M, N value and grid size can be determined according to actual conditions.According to mobile vehicle coordinate system down-sampling
The three-dimensional coordinate of point projects sampled point on the corresponding grid of grating map.
In the present embodiment, in order to improve detection barrier precision, hanging point and the noise spot in sampled point can be filtered out,
Wherein, hanging point refers to that the difference in height with mobile vehicle in vertical direction is more than preset height value and less than two radar lines
The sampled point scanned；Noise spot refers to that other grids in the preset range of the grid at place do not have sampled point and less than two
The sampled point that bar radar line is scanned.Settable pre-determined distance is 2.5m, then projects existing with mobile vehicle in grating map
Difference in height in vertical direction is more than 2.5m sampled point and less than two radar line scannings are arrived, then these sampled points are probably outstanding
In higher local object, the not motion to mobile vehicle is caused to hinder, therefore these hanging points are filtered out.In addition, making an uproar
What noise when sound point is probably collection was caused, belong to measurement error, it is necessary to filter out.
Step S104：According to grating map, obstacle grid is determined, obstacle grating map is obtained.
The decision method of obstacle grid can use and be based on two methods of scan line gradient method and maximin height map.
The method that obstacle grid is judged based on scan line gradient method is as follows：
The Grad of each sampled point in computation grid map, presets if the Grad of a certain sampled point is more than first
Threshold value, then the sampled point is barrier point, then the grid where the sampled point is the first obstacle grid.
Laser radar is rotation sweep detecting obstacles thing, and annular is presented in scan line in ground grading.Swept same
Retouch in angle, obtain the coordinate value of the sampled point on adjacent two ring of a certain sampled point, calculate the Grad of the sampled point,
Calculation formula is as follows：
In formula,
Tan θ --- Grad；
Δ z --- the difference of coordinate of the sampled point in z-axis on two adjacent rings；
D --- the difference of sampled point on the x-y plane with the distance of origin on two adjacent rings.
If scan line runs into barrier, due to blocking for barrier, the sampled point of adjacent two ring of sampled point can be made
The difference d with the distance of origin diminishes on the x-y plane, while coordinate of the sampled point on two adjacent rings in z-axis
Difference becomes big, therefore the Grad of the sampled point becomes big.
As shown in fig. 7, being scan line gradient map.
Maximin height map judges that the method for obstacle grid is as follows：
Ground is modeled as a series of grid, these grids include three data：The plane coordinates of grid and projection
To the coordinate value of the sampled point in same grid.For grid C, the collection for projecting point therein is combined into：ξC={ Pi=(xi,yi,
zi)}。
The maximum height difference of all sampled point in the vertical directions in a certain grid in computation grid map, i.e., in z
The maximum difference of coordinate on axle.
The calculation formula of difference in height is：
Δ H=max (zi)-max(zj)
In formula,
Δ H --- the maximum difference of coordinate of the sampled point in z-axis in grid；
max(zi) --- the maximum of coordinate of the sampled point in z-axis in grid；
max(zj) --- the minimum value of coordinate of the sampled point in z-axis in grid.
If the maximum difference of coordinate of the sampled point in the grid in z-axis is more than the second predetermined threshold value, the grid is
Second obstacle grid；If only one of which sampled point in a certain grid, use and the sampled point is calculated based on scan line gradient method
Grad, if Grad is more than the first predetermined threshold value, the grid is the second obstacle grid.
Afterwards, the obstacle grid that two methods are obtained is verified mutually, is simultaneously the first obstacle in selection grating map
The grid of what the second obstacle grid of grid is used as the 3rd obstacle grid.
Each grid in grating map is judged, the 3rd all obstacle grids are determined.
According to relational operator schematic diagram, as shown in figure 8, being searched in the range of diagram, if a certain 3rd obstacle grid is upper
The quantity of the 3rd obstacle grid is more than predetermined number in two grids of lower left and right four direction, then by the 3rd obstacle grid mark
It is designated as obstacle grid；If less than predetermined number, then labeled as cluster grid.
By all obstacle grids formation obstacle grating map in grating map.
Step S105：According to barrier grating map, the location and shape of barrier are determined.
The coordinate of sampled point, the position of disturbance in judgement thing in obstacle grid in obstacle grating map, and use mould
Plate matching algorithm, determines the shape of barrier.
Use template matching algorithm determine the idiographic flow of the shape of barrier for：Multiple template is chosen, each mould is calculated
Plate and the coefficient correlation of the obstacle grid block of the obstacle grid composition in obstacle grating map, according to the module that coefficient correlation is maximum
Determine the shape of barrier.The calculation formula of coefficient correlation is as follows：
In formula,
R (i, j) --- coefficient correlation；
Si,j(m, n) --- template T overlays the coordinate on subgraph S；
T (m, n) --- transverse and longitudinal grid number shared by template；
M --- calculate the maximum magnitude of coefficient correlation in the horizontal direction of grating map；
N --- calculate the maximum magnitude of coefficient correlation in the vertical direction of grating map.
Wherein, that block region whistle figure S of the searched figure of template coveringij.I, j are the subgraph upper left corner on searched figure S
Coordinate.
If maximum correlation coefficient is more than the 3rd given threshold, obstacle block and template matches success, if less than given threshold,
Then obstacle block is other types.
U-shaped, L-type and I types can be divided into according to the shape of obstacle block.U-shaped, L-type and I types are barrier, barrier on road
May be people, car or curb., can be variant in size according to the distance and barrier size of distance.It is U-shaped to be swept for laser radar
Three faces of the barrier retouched, L-type is two faces that Laser Radar Scanning has arrived barrier, and I types are that Laser Radar Scanning is arrived
One face of barrier.Other types, ideally, obvious geometric properties can be presented in barrier under laser radar, but
Its geometric properties can not be distinguished when being blocked or being distant.
In the present embodiment, the change of the three-dimensional coordinate for the sampled point that can be gathered according to laser radar, it is quiet to determine barrier
It is only or mobile, to its movement velocity of mobile barrier judgment and direction.Can use box model, describe barrier size,
Shape and movement velocity and direction.As shown in figure 9, being the schematic diagram of box model.In figure, (x, y) is represented in barrier
Heart coordinate, W represents the width of barrier, and L represents the length of barrier, and φ represents the direction of motion of barrier, and v represents barrier
Movement velocity.
In the present embodiment, space-time barrier grid schematic diagram can be set up, as shown in Figure 10, time=0 cross section is
The barrier grid map at mobile vehicle current time, wherein 0 is vehicle position.Time axles infinitely upwardly extend expression and are based on
Modeling of the current time to following any time distribution of obstacles situation, it can thus be appreciated that grid map is t in the cross section of t
The distribution situation of moment barrier.Each put corresponding value P (xt,yt, t) represent the occupancy of the point.
For static-obstacle thing P (xt,yt, t)=P (xt,yt,0)；For dynamic barrier it need to be judged for future one
The influence of spatial and temporal distributions in the section time.For dynamic barrier, barrier point set is { Pi=(xi,yi), barrier speed is
(vk,x, vk,y), acceleration is (ak,x, ak,y), t distribution of obstacles is represented by：
P(xt,yt, t)=255
In formula,
xt--- the coordinate value of t barrier x-axis；
yt--- the coordinate value of t barrier y-axis；
P(xt,yt, t)=255 represent that t (x, y, t) point is occupied.
The method for the detection barrier based on laser point cloud data that the present embodiment is provided, passes through the laser point cloud number of acquisition
According to, the three-dimensional coordinate of all sampled points under mobile vehicle coordinate system is obtained, and sampled point is projected on the grating map of foundation,
The obstacle grid in grating map is determined, obstacle grating map, and the shape based on this determination barrier and position is obtained.This hair
The method of bright offer, the laser point cloud data obtained by the laser radar on mobile vehicle, can obtain barrier
Shape and position, and movement velocity and the direction of barrier motion can be determined according to the change of laser point cloud data, to obstacle
The movement locus of thing is tracked, so as to realize mobile vehicle object-oriented autokinetic movement in the environment for have barrier.
Embodiment two
Corresponding to embodiment one, a kind of device of the detection barrier based on laser point cloud data is present embodiments provided,
As shown in figure 11, including the first acquisition module 201, the second acquisition module 202, module 203, the and of the 3rd acquisition module 204 are set up
First determining module 205.It will be made below specific introduction.
First acquisition module 201, the laser point cloud data for obtaining the object that Airborne Lidar is measured.
In the present embodiment, laser radar is arranged on mobile vehicle.Laser radar launches laser beam, and detecting laser beam is arrived
After object, receive the signal returned and handled, obtain laser point cloud data.The data returned per beam of laser can pass through
The Internet protocol data bag is returned, distance and the angle letter with laser radar that packet includes each sampled point of body surface
Breath, definable laser radar rotate a circle output data be a frame data.
In the present embodiment, the device of the detection barrier based on laser point cloud data may also include first processing module.
In the place apart from laser radar farther out, the scan line of laser radar is sparse, easily causes the missing inspection of barrier.First processing
Module is used for according to laser point cloud data, and fitting obtains a plurality of curve, and pair with the distance of laser radar more than pre-determined distance
The corresponding curve of sampled point carries out two-dimensional linear interpolation, obtains multiple interpolation points, assign multiple interpolation points as laser point cloud data
A part.The situation of barrier missing inspection can so be avoided.It should be noted that pre-determined distance can be set as needed, this hair
It is bright to be defined not to this.
Second acquisition module 202, for according to laser point cloud data, obtaining each sampled point under mobile vehicle coordinate system
Three-dimensional coordinate.
First acquisition module 201 obtain laser point cloud data in include sampled point with laser radar away from walk-off angle
Information is spent, the three-dimensional coordinate using laser radar as the origin of coordinates can be converted to, conversion formula used is as follows：
Px=R*cos (ω) * sin (α)
Py=R*cos (ω) * cos (α)
Pz=R*sin (ω)
In formula,
Px--- the coordinate value of sampled point P x-axis；
Py--- the coordinate value of sampled point P y-axis；
Pz--- the coordinate value of sampled point P z-axis；
R --- the distance of sampled point P and laser radar；
ω --- sampled point P and xoy horizontal planes vertical angle；
α --- sampled point P and the angle of x-axis.
The three-dimensional coordinate of the sampled point obtained by laser radar point cloud data is the seat using laser radar as the origin of coordinates
Three-dimensional coordinate in mark system, the barrier of the present embodiment detection is for mobile vehicle, so needing sampled point
The three-dimensional coordinate using laser radar as the origin of coordinates be converted to using mobile vehicle as the coordinate system of the origin of coordinates in three
Dimension coordinate.It can change by the rotation and translation of matrix, realize that radar fix is tied to the rigid transformation of mobile vehicle coordinate system.Separately
Outside, terrestrial coordinate system can reflect the geographical position residing for mobile vehicle, can also move carrier coordinate system to terrestrial coordinate system
Rigid transformation.
Module 203 is set up, for setting up grating map, is sat according to the three-dimensional of each sampled point under mobile vehicle coordinate system
Mark, each sampled point is projected on the corresponding grid of grating map.
In the present embodiment, M*N grating maps can be set up, M represents a length of M grid of grating map, and N is with representing grid
A width of N number of grid of figure.M, N value and grid size can be determined according to actual conditions.According to mobile vehicle coordinate system down-sampling
The three-dimensional coordinate of point projects sampled point on the corresponding grid of grating map.
In the present embodiment, the device of the detection barrier based on laser point cloud data may also include Second processing module,
For filtering out hanging point and noise spot in sampled point.Wherein, hanging point refers to the height with mobile vehicle in vertical direction
The sampled point that difference is scanned more than preset height value and less than two radar lines；Noise spot refers to the default model of the grid at place
Other grids in enclosing do not have sampled point, and the sampled point scanned less than two radar lines.Settable pre-determined distance is 2.5m,
Then project the difference in height with mobile vehicle in vertical direction in grating map and be more than 2.5m sampled point and less than two
The scanning of radar line is arrived, then these sampled points are probably to be suspended in the high local object of comparison, and the not motion to mobile vehicle is caused
Hinder, therefore these hanging points are filtered out.In addition, what noise when noise spot is probably collection was caused, belong to measurement and miss
Difference is, it is necessary to filter out.
3rd acquisition module 204, for according to grating map, determining obstacle grid, obtains obstacle grating map.
The decision method of obstacle grid can use and be based on two methods of scan line gradient method and maximin height map.
The method that obstacle grid is judged based on scan line gradient method is as follows：
The Grad of each sampled point in computation grid map, presets if the Grad of a certain sampled point is more than first
Threshold value, then the sampled point is barrier point, and the grid where the sampled point is the first obstacle grid.
Laser radar is rotation sweep detecting obstacles thing, and annular is presented in scan line in ground grading.Swept same
Retouch in angle, obtain the coordinate value of the sampled point on adjacent two ring of a certain sampled point, calculate the Grad of the sampled point,
Calculation formula is as follows：
In formula,
Tan θ --- Grad；
Δ z --- the difference of coordinate of the sampled point in z-axis on two adjacent rings；
D --- the difference of sampled point on the x-y plane with the distance of origin on two adjacent rings.
If scan line runs into barrier, due to blocking for barrier, the sampled point of adjacent two ring of sampled point can be made
The difference d with the distance of origin diminishes on the x-y plane, while coordinate of the sampled point on two adjacent rings in z-axis
Difference becomes big, therefore the Grad of the sampled point becomes big.
Maximin height map judges that the method for obstacle grid is as follows：
Ground is modeled as a series of grid, these grids include three data：The plane coordinates of grid and projection
To the coordinate value of the sampled point in same grid.For grid C, the collection for projecting point therein is combined into：ξC={ Pi=(xi,yi,
zi)}。
The maximum height difference of all sampled point in the vertical directions in a certain grid in computation grid map, i.e., in z
The maximum difference of coordinate on axle.
The calculation formula of difference in height is：
Δ H=max (zi)-max(zj)
In formula,
Δ H --- the maximum difference of coordinate of the sampled point in z-axis in grid；
max(zi) --- the maximum of coordinate of the sampled point in z-axis in grid；
max(zj) --- the minimum value of coordinate of the sampled point in z-axis in grid.
If the maximum difference of coordinate of the sampled point in the grid in z-axis is more than the second predetermined threshold value, the grid is
Second obstacle grid；If only one of which sampled point in a certain grid, using the ladder that the sampling is calculated based on scan line gradient method
Angle value, if Grad is more than the first predetermined threshold value, it is determined that the grid is the second obstacle grid.
Afterwards, the obstacle grid that two methods are obtained is verified mutually, is simultaneously the first obstacle in selection grating map
The grid of grid and the second obstacle grid is used as the 3rd obstacle grid.
Each grid in grating map is judged, the 3rd all obstacle grids are determined.
According to association area operator schematic diagram, if two grids of the four direction up and down of a certain 3rd obstacle grid
In the 3rd obstacle grid quantity be more than predetermined number, then by the 3rd obstacle grid tag be obstacle grid；If less than pre-
If quantity, then labeled as cluster grid.
By all obstacle grids formation obstacle grating map in grating map.
First determining module 205, for according to barrier grating map, determining the location and shape of barrier.
The coordinate of sampled point, the position of disturbance in judgement thing in obstacle grid in obstacle grating map, and use mould
Plate matching algorithm, determines the shape of barrier.
Use template matching algorithm determine the idiographic flow of the shape of barrier for：Multiple template is chosen, each mould is calculated
Plate and the coefficient correlation of the obstacle grid block of the obstacle grid composition in obstacle grating map, according to the module that coefficient correlation is maximum
Determine the shape of barrier.The calculation formula of coefficient correlation is as follows：
In formula,
R (i, j) --- coefficient correlation；
Si,j(m, n) --- template T overlays the coordinate on subgraph S；
T (m, n) --- transverse and longitudinal grid number shared by template；
M --- calculate the maximum magnitude of coefficient correlation in the horizontal direction of grating map；
N --- calculate the maximum magnitude of coefficient correlation in the vertical direction of grating map.
Wherein, that block region whistle figure S of the searched figure of template coveringij.I, j are the subgraph upper left corner on searched figure S
Coordinate.
If maximum correlation coefficient is more than the 3rd given threshold, obstacle block and template matches success, if less than given threshold,
Then obstacle block is other types.
U-shaped, L-type and I types can be divided into according to the shape of obstacle block.U-shaped, L-type and I types are the barrier on road, obstacle
Thing may be people, car or curb., can be variant in size according to the distance and barrier size of distance.U-shaped is laser radar
Three faces of the barrier scanned, L-type is two faces that Laser Radar Scanning has arrived barrier, and I types are Laser Radar Scannings
To a face of barrier.Other types, ideally, obvious geometric properties can be presented in barrier under laser radar,
But it can not distinguish its geometric properties when being blocked or being distant.
In the present embodiment, the change of the three-dimensional coordinate for the sampled point that can be gathered according to laser radar determines that barrier is static
Or it is mobile, to its movement velocity of mobile barrier judgment and direction.Box model can be used, size, the shape of barrier is described
Shape and movement velocity and direction.In figure, (x, y) represents the centre coordinate of barrier, and W represents the width of barrier, and L represents barrier
Hinder the length of thing, φ represents the direction of motion of barrier, and v represents the movement velocity of barrier.
In the present embodiment, space-time barrier grid schematic diagram can be set up, as shown in Figure 10, time=0 cross section is
The barrier grid map at mobile vehicle current time, wherein 0 is vehicle position.Time axles infinitely upwardly extend expression and are based on
Modeling of the current time to following any time distribution of obstacles situation, it can thus be appreciated that grid map is t in the cross section of t
The distribution situation of moment barrier.Each (x, y, t) puts corresponding value P (xt,yt, t) represent the occupancy of the point.
For static-obstacle thing P (xt,yt, t)=P (xt,yt,0)；For dynamic barrier it need to be judged for future one
The influence of spatial and temporal distributions in the section time.For dynamic barrier, barrier point set is { Pi=(xi,yi), barrier speed is
(vk,x, vk,y), acceleration is (ak,x, ak,y), t distribution of obstacles is represented by：
P(xt,yt, t)=255
In formula,
xt--- the coordinate value of t barrier x-axis；
yt--- the coordinate value of t barrier y-axis；
P(xt,yt, t)=255 represent that t (x, y, t) point is occupied.
In the present embodiment, the device of the detection barrier based on laser point cloud data may also include the second determining module,
For the change of the three-dimensional coordinate of sampled point gathered according to laser radar, movement velocity and the direction of dynamic barrier are determined.
Because embodiment two is mutually corresponding with embodiment one, so the beneficial effect that can be brought is identical, it will not be repeated here.
It is only schematic in embodiment provided herein, it should be understood that the method and apparatus provided
, for example, the division of the step and module, only a kind of division of logic function, can there is other draw when actually realizing
The mode of dividing.The above method and device can run corresponding software and hardware by computer installation to realize.Term " first ",
" second " etc. is only used for describing purpose, and it is not intended that indicating or implying relative importance or imply the skill indicated by indicating
The quantity of art feature.
It is described above to be for only for ease of it will be understood by those skilled in the art that technical scheme, not to limit
The present invention.Within the spirit and principles of the invention, any modification, equivalent substitution and improvements made etc., should be included in this
Within the protection domain of invention.
Claims (12)
1. a kind of method of the detection barrier based on laser point cloud data, it is characterised in that including：
The laser point cloud data for the object that Airborne Lidar is measured is obtained, the laser radar is arranged on mobile vehicle；
According to the laser point cloud data, the three-dimensional coordinate of each sampled point under mobile vehicle coordinate system is obtained；
Grating map is set up, according to the three-dimensional coordinate of each sampled point under the mobile vehicle coordinate system, is each adopted described
Sampling point is projected on the corresponding grid of the grating map；
According to the grating map, obstacle grid is determined, obstacle grating map is obtained；
According to the barrier grating map, the location and shape of barrier are determined.
2. the method for the detection barrier according to claim 1 based on laser point cloud data, it is characterised in that described
After the laser point cloud data for obtaining the object that Airborne Lidar is measured, methods described also includes：
According to the laser point cloud data, fitting obtains a plurality of curve, and pair be more than with the distance of the laser radar preset away from
From the corresponding curve of sampled point carry out two-dimensional linear interpolation, obtain multiple interpolation points, assign the multiple interpolation point as laser
A part for cloud data.
3. the method for the detection barrier according to claim 1 based on laser point cloud data, it is characterised in that described
According to the laser point cloud data, the three-dimensional coordinate of each sampled point under mobile vehicle coordinate system is obtained, including：
According to the laser point cloud data, the three-dimensional coordinate of each sampled point under radar fix system is obtained, and carry out rigidity
Conversion, obtains the three-dimensional coordinate of each sampled point under mobile vehicle coordinate system.
4. the method for the detection barrier according to claim 1 based on laser point cloud data, it is characterised in that described
Grating map is set up, according to the three-dimensional coordinate of each sampled point under the mobile vehicle coordinate system, by each sampled point
After projecting on the corresponding grid of the grating map, methods described also includes：
Filter out hanging point and the noise spot in sampled point；Wherein,
The hanging point refers to that the difference in height with the mobile vehicle in the vertical direction is more than preset height value and less than two
The sampled point that radar line is scanned；
The noise spot refers to do not have sampled point in other grids in the preset range of the grid at place, and less than two radars
The sampled point that line is scanned.
5. the method for the detection barrier according to claim 1 based on laser point cloud data, it is characterised in that described
According to the grating map, obstacle grid is determined, obstacle grating map is obtained, including：
The Grad of each sampled point in the grating map is calculated, is preset if the Grad of a certain sampled point is more than first
Threshold value, then the sampled point is barrier point, and the grid where the sampled point is the first obstacle grid；
The maximum height difference of all sampled point in the vertical directions in a certain grid in the grating map is calculated, if the grid
The maximum height difference of lattice is more than the second predetermined threshold value, then the grid is the second obstacle grid；If only one of which is adopted in a certain grid
Sampling point and Grad are more than first predetermined threshold value, then the grid is the second obstacle grid；
Select in the grating map at the same for the first obstacle grid and the second obstacle grid grid as the 3rd obstacle grid；
If the quantity of the 3rd obstacle grid in each two grids of the four direction up and down of a certain 3rd obstacle grid is big
Then it is obstacle grid by the 3rd obstacle grid tag in predetermined number；
By all obstacle grids formation obstacle grating map in the grating map.
6. the method for the detection barrier based on laser point cloud data according to claim 1-5 any of which, it is special
Levy and be, methods described also includes：
Multiple template is chosen, each template and the obstacle grid block of the obstacle grid composition in the obstacle grating map is calculated
Coefficient correlation, the coefficient correlation and the 3rd predetermined threshold value that are obtained according to calculating determine the shape of barrier；
The change of the three-dimensional coordinate of the sampled point gathered according to the laser radar, determines movement velocity and the side of the barrier
To.
7. a kind of device of the detection barrier based on laser point cloud data, it is characterised in that including：
First acquisition module, the laser point cloud data for obtaining the object that Airborne Lidar is measured, the laser radar is installed
On mobile vehicle；
Second acquisition module, for according to the laser point cloud data, obtaining three of each sampled point under mobile vehicle coordinate system
Dimension coordinate；
Module is set up, for setting up grating map, according to the three-dimensional coordinate of each sampled point under the mobile vehicle coordinate system
Each sampled point is projected on the corresponding grid of the grating map；
3rd acquisition module, for according to the grating map, determining obstacle grid, obtains obstacle grating map；
First determining module, for according to the barrier grating map, determining the location and shape of barrier.
8. the device of the detection barrier according to claim 7 based on laser point cloud data, it is characterised in that the dress
Putting also includes first processing module, the laser point cloud data for obtaining the object that Airborne Lidar is measured in the first acquisition module
Afterwards,
According to the laser point cloud data, fitting obtains a plurality of curve, and pair be more than with the distance of the laser radar preset away from
From the corresponding curve of sampled point carry out two-dimensional linear interpolation, obtain multiple interpolation points, assign the multiple interpolation point as laser
A part for cloud data.
9. the device of the detection barrier according to claim 7 based on laser point cloud data, it is characterised in that described the
Two acquisition modules specifically for：
According to the laser point cloud data, the three-dimensional coordinate of each sampled point under radar fix system is obtained, and carry out rigidity
Conversion, obtains the three-dimensional coordinate of each sampled point under mobile vehicle coordinate system.
10. the device of the detection barrier according to claim 7 based on laser point cloud data, it is characterised in that described
Device also includes Second processing module, for setting up grating map in the module of setting up, according to the mobile vehicle coordinate system
Under each sampled point three-dimensional coordinate, each sampled point is projected on the corresponding grid of the grating map it
Afterwards,
Filter out hanging point and the noise spot in sampled point；Wherein,
The hanging point refers to that the difference in height with the mobile vehicle in the vertical direction is more than preset height value and less than two
The sampled point that radar line is scanned；
The noise spot refers to that other grids in the preset range of the grid at place do not have sampled point, and less than two radar lines
The sampled point scanned.
11. the device of the detection barrier according to claim 7 based on laser point cloud data, it is characterised in that described
3rd acquisition module specifically for：
The Grad of each sampled point in the grating map is calculated, is preset if the Grad of a certain sampled point is more than first
Threshold value, then the sampled point is barrier point, and the grid where the determination sampled point is the first obstacle grid；
The maximum height difference of all sampled point in the vertical directions in a certain grid in the grating map is calculated, if the grid
The maximum height difference of lattice is more than the second predetermined threshold value, it is determined that the grid is the second obstacle grid；If there was only one in a certain grid
Individual sampled point and Grad are more than first predetermined threshold value, it is determined that the grid is the second obstacle grid；
Select in the grating map at the same for the first obstacle grid and the second obstacle grid grid as the 3rd obstacle grid；
If the quantity of the 3rd obstacle grid in each two grids of the four direction up and down of a certain 3rd obstacle grid is big
Then it is obstacle grid by the 3rd obstacle grid tag in predetermined number；
By all obstacle grids formation obstacle grating map in the grating map.
12. the device of the detection barrier based on laser point cloud data according to claim 7-11 any of which, its
It is characterised by, described device also includes the second determining module, is used for：
Multiple template is chosen, each template and the obstacle grid block of the obstacle grid composition in the obstacle grating map is calculated
Coefficient correlation, the coefficient correlation and the 3rd predetermined threshold value that are obtained according to calculating determine the shape of barrier；
The change of the three-dimensional coordinate of the sampled point gathered according to the laser radar, determines movement velocity and the side of the barrier
To.
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