CN115435773A - High-precision map collecting device for indoor parking lot - Google Patents
High-precision map collecting device for indoor parking lot Download PDFInfo
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- CN115435773A CN115435773A CN202211076398.8A CN202211076398A CN115435773A CN 115435773 A CN115435773 A CN 115435773A CN 202211076398 A CN202211076398 A CN 202211076398A CN 115435773 A CN115435773 A CN 115435773A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3807—Creation or updating of map data characterised by the type of data
- G01C21/383—Indoor data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
- G01C21/1652—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with ranging devices, e.g. LIDAR or RADAR
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
- G01C21/1656—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with passive imaging devices, e.g. cameras
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3833—Creation or updating of map data characterised by the source of data
- G01C21/3841—Data obtained from two or more sources, e.g. probe vehicles
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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
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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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
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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Abstract
The invention discloses a high-precision map acquisition device for an indoor parking lot, which relates to the technical field of map acquisition of parking lots and comprises a towing device main body, and a positioning and attitude determining module, a towing hook, a laser radar module, camera equipment and a resolving module which are arranged on the towing device main body. The running track information of the main body of the towing device determined by the GNSS, the horizontally-arranged laser radar, the IMU and the DMI in the open-air environment and the underground parking environment is obtained, and the absolute position information of the open-air environment in an absolute coordinate system is output by fusing and resolving the data with the obliquely-arranged laser radar, so that the efficiency of collecting the parking lot map is improved, and the integrity of the data is ensured.
Description
Technical Field
The invention relates to the technical field of parking lot map acquisition, in particular to a high-precision map acquisition device for an indoor parking lot.
Background
Because parking areas are scattered in jurisdiction and weak in underground signals, the conventional 'parking area map coverage rate' and 'underground parking non-GNSS (Global Navigation Satellite System) signal positioning' are two major pain points in parking area map acquisition. Because there is no GNSS signal in the parking lot, adopt SLAM (Simultaneous localization and Mapping, real-time positioning and map building or concurrent map building and positioning) technology to carry on the map data acquisition of the parking lot; coordinates acquired during map building by using the SLAM technology are relative coordinates, and coordinates acquired for maps of urban public roads are absolute coordinates, so that finally obtained data coordinate systems are inconsistent, data fusion cannot be performed, and the map building precision is influenced. If the vehicle-mounted mobile measurement equipment is used for acquiring data of the parking lot, the staying time of the vehicle-mounted mobile measurement equipment in the parking lot is generally considered in order to ensure the data acquisition precision under the absolute coordinate. When collecting parking area data, need business turn over many times just can gather the completion, like this greatly increased the time of gathering, and then influence collection efficiency. And original on-vehicle mobile measurement equipment is great relatively, and underground parking garage ubiquitous limit for height causes easily to collide with and causes equipment impaired, leads to the fact unable turn around to disconnected head way, can only open and stop into after the parking stall and then open out, perhaps opens into and pour out, just so easily because of the data acquisition is incomplete and causes the data disappearance, and data integrity is lower.
Disclosure of Invention
The invention aims to provide a high-precision map collecting device for an indoor parking lot, so that the efficiency of map collection of the parking lot is improved, and the integrity of data is ensured.
In order to achieve the purpose, the invention provides the following scheme:
the utility model provides an indoor parking area high accuracy map collection system, indoor parking area high accuracy map collection system includes:
the device comprises a towing device main body, and a positioning and attitude determining module, a towing hook, a laser radar module, camera equipment and a resolving module which are arranged on the towing device main body;
the towing hook is used for being connected with a trailer ball at the tail part of the car when the towing device main body is positioned in an open air environment;
the positioning and attitude determining module comprises a satellite positioning system, an inertia measuring unit and a wheel encoder odometer;
the laser radar module comprises a horizontal laser radar and an inclined laser radar;
the camera equipment is used for acquiring texture information of an underground parking lot and an open-air environment;
the resolving module is used for:
when the towing device main body is located in an open air environment, acquiring the running track information of the towing device main body determined by the satellite positioning system, the inertia measurement unit and the wheel encoder odometer, acquiring laser point cloud data collected by an inclined laser scanner, and outputting three-dimensional point cloud data of the open air environment in an absolute coordinate system;
when the towing device main body is positioned in an underground parking lot, acquiring the running track information of the towing device main body determined by the horizontally arranged laser radar, the inertia measurement unit and the wheel encoder odometer, acquiring laser point cloud data acquired by the obliquely arranged laser radar, and outputting three-dimensional point cloud data of the underground parking lot under a relative coordinate system;
and acquiring texture information acquired by the camera equipment, and outputting position and posture information corresponding to the picture under an absolute coordinate system.
Optionally, the satellite positioning system is configured to obtain location information of an open air environment when the towing apparatus main body is located in the open air environment;
the inertial measurement unit is used for measuring the attitude information of the towing device main body;
the wheel encoder odometer is used for measuring the movement mileage information of the towing device main body.
Optionally, the horizontally arranged lidar is configured to obtain planar laser point cloud data of the towing apparatus body when the towing apparatus body is located in an underground parking lot;
optionally, the indoor parking lot high accuracy map acquisition device further includes: a memory;
the storage is used for storing the open-air environment information and the underground parking lot information;
the open-air environment information comprises the satellite positioning system, the inertia measurement unit, the running track information of the towing device body determined by the wheel encoder odometer, the laser point cloud data of the open-air environment collected by the inclined laser radar, and the three-dimensional point cloud data of the open-air environment in an absolute coordinate system;
the underground parking lot information comprises the running track information of the main body of the towing device, which is determined by the horizontal laser radar, the inertia measurement unit and the wheel encoder odometer, the laser point cloud data of the underground parking lot, which is acquired by the inclined laser radar, and the three-dimensional point cloud data of the underground parking lot under a relative coordinate system.
Optionally, the towing attachment body comprises a tricycle and a mount mounted on the tricycle.
Optionally, the camera device, the positioning and attitude determining module, and the laser radar module are all located on the fixing base.
Optionally, a support; the camera equipment is fixed on the fixed seat through the support.
Optionally, the wheel encoder odometer is located on a rear axle of the tricycle.
Optionally, in terms of the absolute position information of the underground parking lot in the output absolute coordinate system, the resolving module is configured to:
determining a plurality of pairs of homonymous points according to the three-dimensional point cloud data of the absolute coordinate system in the open air environment, the three-dimensional point cloud data of the underground parking lot and the camera photo information;
determining the position information of a plurality of pairs of the same-name points under an absolute coordinate system and the position information of the same-name points under a relative coordinate system according to the absolute position information of the open-air environment under the absolute coordinate system and the relative position information of the underground parking lot under the relative coordinate system;
calculating a rotation matrix and a translation vector between the same-name points, which are converted from the three-dimensional point cloud data of the underground parking lot in the relative coordinate system to the absolute coordinate system, according to the position information of the same-name points in the absolute coordinate system and the position information of the same-name points in the relative coordinate system;
and converting the relative position information of the underground parking lot under the relative coordinate system into the absolute position information of the underground parking lot under the absolute coordinate system according to the translation vector between the rotation matrix and the same-name point.
Optionally, in terms of calculating a translation vector between a rotation matrix and a homonymy point according to position information of a plurality of pairs of homonymy points in an absolute coordinate system and position information of the homonymy points in a relative coordinate system, the calculating module is configured to:
calculating translation vectors between the rotation matrix and the homonymy points by adopting a least square method according to the position information of the homonymy points in the absolute coordinate system and the position information of the homonymy points in the relative coordinate system;
the number of the multiple pairs of the same name points is at least three pairs.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides a high-precision map acquisition device for an indoor parking lot, which specifically comprises a towing device main body, and a positioning and attitude determining module, a towing hook, a laser radar module, camera equipment and a resolving module which are arranged on the towing device main body; the trailer hook on the trailer device is connected with the trailer ball at the tail of the car, so that the information of the road around the parking lot can be obtained when the vehicle moves around the parking lot; when the car parks on the parking layer, the position information of the parking layer is determined by adopting the mode that the main body of the towing device independently advances. Because the main body of the towing device advances independently, the position information can be conveniently acquired, and then the acquired data can be accurately acquired through corresponding measuring equipment, namely, the acquisition efficiency is improved, and the integrity of the data is ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a block diagram of an indoor parking area map acquisition device according to the present invention;
fig. 2 is a structural view of the high-precision map collecting apparatus for an indoor parking lot according to the present invention, which is used in an open air environment.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The invention aims to provide a high-precision map acquisition device for an indoor parking lot, which achieves the aims of accurately acquiring map data and improving the acquisition efficiency and the data integrity by adopting a portable device convenient to move.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1, the high-precision map collecting device for the indoor parking lot provided by the invention comprises a towing device main body, and a positioning and attitude determining module, a towing hook, a laser radar module, a camera device and a resolving module which are arranged on the towing device main body.
In particular, the trailer hook is used for connecting the trailer hook with a trailer ball at the tail of a car when the trailer device main body is positioned in an open air environment as shown in fig. 2; the positioning and attitude determining module comprises a satellite positioning system GNSS, an Inertial Measurement Unit (IMU) and a wheel encoder odometer (DMI); the laser radar module comprises a horizontal laser radar and an inclined laser radar; the horizontal laser radar is used for fusion positioning with the IMU and the DMI in an indoor parking lot, and the oblique laser radar is used for collecting three-dimensional scene data.
The horizontal laser radar fuses IMU (inertial measurement Unit) and DMI (digital mobile interface) data by using the existing SLAM algorithm or acquires the relative coordinate track attitude under the GNSS-free signal of a parking area of a parking lot, and performs data fusion by using the track attitude file and the inclined laser radar to obtain all acquired three-dimensional point cloud data.
The camera equipment is used for acquiring texture information of an underground parking lot and an open-air environment; after finishing the data acquisition of the indoor and outdoor ordinary roads in the parking lot (including the data acquisition of the indoor parking lot and the indoor and outdoor access roads), the mobile measuring equipment (comprising a trailer main body and a car) can be transported to an indoor parking area, and after a trailer bayonet is unfastened, the data acquisition of the independent scene of relative coordinates is carried out through the measuring equipment on the trailer main body (the measuring equipment comprises a positioning and attitude determining module, a trailer hook, a laser radar module, a camera device and a resolving module).
The resolving module is used for: and when the towing device main body is located in an open air environment, acquiring the running track information of the towing device main body determined by the GNSS, the IMU and the DMI, acquiring three-dimensional point cloud data of the open air environment acquired by the inclined laser radar, and outputting the three-dimensional point cloud data of the open air environment under an absolute coordinate system.
When the towing device main body is located in an underground parking lot, the running track information of the towing device main body determined by the horizontally arranged laser radar, the IMU and the DMI, the laser point cloud data of the underground parking lot collected by the obliquely arranged laser radar are obtained, and the three-dimensional point cloud data of the underground parking lot under a relative coordinate system are output.
And then, acquiring texture information acquired by the camera equipment, and outputting position and posture information corresponding to the picture under the absolute coordinate system.
In the specific implementation process, the camera and the laser radar work simultaneously, when the laser scans the ground objects in seconds, the camera shoots simultaneously, and the position and the posture of the camera at the shooting time corresponding to the shot photos and each photo can be shot along the way by using the resolving software module. The point cloud data and the photo can be matched conveniently, and subsequent manual work and software are assisted to judge the feature points of the ground objects automatically.
Specifically, the GNSS is configured to obtain location information of an open air environment when the towing apparatus main body is located in the open air environment; the IMU is used for measuring attitude information of the towing device main body; the DMI is used to measure mileage information of the body of the towing apparatus.
The horizontally-arranged laser radar is used for acquiring horizontally-arranged laser point cloud data of the towing device main body when the towing device main body is positioned in an underground parking lot;
the high-precision map acquisition device for the indoor parking lot further comprises a memory, wherein the memory is used for storing open-air environment information and underground parking lot information; the open-air environment information comprises the GNSS, the IMU, the running track information of the towing device body determined by the DMI, the laser point cloud data of the open-air environment acquired by the inclined laser radar, and the three-dimensional point cloud data of the open-air environment in an absolute coordinate system.
The underground parking lot information comprises the horizontal laser radar, the IMU, the driving track information of the main body of the towing device determined by the DMI, the laser point cloud data of the underground parking lot collected by the inclined laser radar, and the three-dimensional point cloud data of the underground parking lot under a relative coordinate system.
Specifically, the towing device main body comprises a tricycle and a fixing seat arranged on the tricycle. The method comprises the following steps of firstly, mounting a tricycle on a trailer hook at the tail part of a car, carrying out access channels on common roads around a parking lot and the parking lot along with the car, and carrying out data acquisition on absolute coordinates by measuring equipment arranged on the tricycle. And then the tricycle is driven to a parking layer of an indoor parking lot along with the car, the tricycle independently runs on the parking layer after the buckling device is unlocked, at the moment, the measuring equipment arranged on the tricycle carries out relatively independent coordinate data acquisition, and finally, the two groups of data are subjected to data fusion. Wherein, this measuring equipment mounting height is not higher than the car height after, can effectually avoid the high restriction in indoor parking area.
Specifically, the camera device, the positioning and attitude determining module and the laser radar module are all located on the fixed seat.
The parking lot map collecting device provided by the embodiment further comprises a support, and the camera equipment is fixed on the fixing seat through the support. The DMI is located on a rear axle of the tricycle.
In the specific implementation process, when absolute coordinate data of an open road around a parking lot is collected, a towing device main body is mounted on a towing bayonet of the tail of a small air vehicle by using a towing hook to form mobile measuring equipment, the mobile measuring equipment receives GNSS signals in an open environment, the accurate motion position under an absolute coordinate system can be obtained through a real-time difference/post difference method, the accurate motion position and IMU/DMI are subjected to data fusion, combination, navigation and calculation, and position and attitude track files under the absolute coordinate in the motion process of the mobile measuring equipment are obtained. And carrying out data fusion calculation on the track file and the vehicle-mounted laser radar data acquired at the same time to obtain three-dimensional point cloud data acquired in the vehicle advancing process under relative coordinates.
When collecting the channel between the parking layer and the parking layer, the absolute coordinate data of the channel between the parking layer and the open road. The mobile measuring equipment uses combined navigation carried out by GNSS, IMU and DMI, and can still obtain the track attitude in absolute coordinates under the condition that GNSS signals are shielded and no signals exist. The method comprises the steps of directly driving the collected outdoor roads into an entrance channel in a parking lot, collecting partial data after the collected outdoor roads reach a parking layer, enabling the outdoor roads to enter the outdoor common roads along an exit channel, continuously collecting data of the peripheral outdoor common roads after GNSS signals are stabilized after the outdoor roads are obtained, and finishing collection.
When the relative coordinate data of the parking layer is in the environment without GNSS signals, the car is used for dragging the main body of the dragging device to the parking layer with the data to be collected. After the towing relation between the car and the towing device body is removed, initialization alignment of the IMU is carried out under a relative coordinate system, closed-loop acquisition is carried out on the whole parking layer, fusion calculation of the position and the attitude of the equipment is carried out by using the IMU/DMI and the horizontal laser radar, and the driving track attitude is obtained. And fusing the track attitude file and the inclined laser radar to obtain three-dimensional laser point cloud data of the parking layer under the relative coordinates. And finally, converting the three-dimensional laser point cloud data of the parking layer under the relative coordinate through a resolving process to obtain the three-dimensional point cloud data of the parking layer under the absolute coordinate.
Further, in terms of the absolute position information of the underground parking lot in the output absolute coordinate system, the resolving module is configured to: determining position information of a plurality of pairs of the same-name points in an absolute coordinate system and position information of the same-name points in a relative coordinate system according to texture information acquired by the camera equipment;
and calculating a rotation matrix and a translation vector between the same-name points of the three-dimensional point cloud data of the underground parking lot in the relative coordinate system converted into the absolute coordinate system according to the position information of the same-name points in the absolute coordinate system and the position information of the same-name points in the relative coordinate system.
And converting the relative position information of the underground parking lot under the relative coordinate system into the absolute position information of the underground parking lot under the absolute coordinate system according to the translation vector between the rotation matrix and the same-name point.
In the process of using IMU, GNSS and DMI, rigid integration installation is adopted, and after calibration, the absolute coordinate point cloud data can be calculated by fusing laser radar data with fixed parameters.
Specifically, in terms of calculating a translation vector between a rotation matrix and the corresponding point according to the position information of each corresponding point in the absolute coordinate system and the position information of each corresponding point in the relative coordinate system, the calculation module is configured to: and calculating translation vectors between the rotation matrix and the homonymous points by adopting a least square method according to the position information of the homonymous points in the absolute coordinate system and the position information of the homonymous points in the relative coordinate system, wherein the number of the homonymous points is at least three.
The same ground object exists in the data acquired twice to form a same-name point. And respectively selecting at least three groups of homonymy points from the two groups of data, calculating conversion parameters between two coordinate systems by using the homonymy points, converting the flat-layer data under the relative coordinate into absolute coordinate data, and performing data fusion with the channel data to form complete parking lot three-dimensional map data under the absolute coordinate.
Specifically, the calculation process is as follows:
in the formula (I), the compound is shown in the specification,
and X i Is the space coordinate of the homonymous points in respective coordinate systems, T is the translation vector between the homonymous points, and R is the rotation matrix between the homonymous points (R belongs to R 3×3 ) Which can be generated by three rotation angles. The y axis is taken as a main axis, and the rotation matrix R is represented by a y-x-z rotation angle system.
T is a translation vector between the homonymous points, R is a rotation matrix between the homonymous points (R belongs to R 3×3 ) Can be generated by three rotation angles. With the y-axis as the principal axis, the rotation matrix R is represented by a y-x-z rotation angle system, i.e.
And (3) taking R and T as unknowns, and solving the unknowns by means of a least square method based on at least three groups of homologous points.
In the above-mentioned formula, the compound has the following structure,
the rotation angles around the Y axis are the rotation angles around the three coordinate axes respectively when the coordinate system is converted
Rotation angle k around X-axis and rotation angle omega around Z-axis。
And taking R and T as unknowns, and solving the unknowns by means of a least square method based on at least three groups of homonymous point pairs.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the foregoing, the description is not to be taken in a limiting sense.
Claims (10)
1. The utility model provides an indoor parking area high accuracy map acquisition device, a serial communication port, indoor parking area high accuracy map acquisition device includes:
the device comprises a towing device main body, and a positioning and attitude determining module, a towing hook, a laser radar module, camera equipment and a resolving module which are arranged on the towing device main body;
the towing hook is used for being connected with a trailer ball at the tail part of the car when the towing device main body is positioned in an open air environment;
the positioning and attitude determining module comprises a satellite positioning system, an inertia measuring unit and a wheel encoder odometer;
the laser radar module comprises a horizontal laser radar and an inclined laser radar;
the camera equipment is used for acquiring texture information of an underground parking lot and an open-air environment;
the resolving module is used for:
when the towing device main body is located in an open air environment, acquiring the running track information of the towing device main body determined by the satellite positioning system, the inertia measurement unit and the wheel encoder odometer, acquiring laser point cloud data collected by an inclined laser scanner, and outputting three-dimensional point cloud data of the open air environment in an absolute coordinate system;
when the towing device main body is positioned in an underground parking lot, acquiring the running track information of the towing device main body determined by the horizontally arranged laser radar, the inertia measurement unit and the wheel encoder odometer, acquiring laser point cloud data acquired by the obliquely arranged laser radar, and outputting three-dimensional point cloud data of the underground parking lot under a relative coordinate system;
and acquiring texture information acquired by the camera equipment, and outputting position and posture information corresponding to the picture under an absolute coordinate system.
2. The indoor parking lot high-precision map acquisition device according to claim 1,
the satellite positioning system is used for acquiring the position information of the open air environment when the towing device main body is positioned in the open air environment;
the inertia measurement unit is used for measuring the attitude information of the towing device main body;
the wheel encoder odometer is used for measuring the movement mileage information of the towing device main body.
3. The indoor parking lot high-precision map collecting device according to claim 1, wherein the horizontal laser radar is used for obtaining laser point cloud data of the towing device body when the towing device body is located in an underground parking lot.
4. The indoor parking lot high-precision map acquisition device according to claim 1, further comprising: a memory;
the storage is used for storing the open-air environment information and the underground parking lot information;
the open-air environment information comprises the satellite positioning system, the inertia measurement unit, the running track information of the towing device body determined by the wheel encoder odometer, the laser point cloud data of the open-air environment collected by the inclined laser radar, and the three-dimensional point cloud data of the open-air environment in an absolute coordinate system;
the underground parking lot information comprises the running track information of the towing device body determined by the horizontal laser radar, the inertia measurement unit and the wheel encoder odometer, three-dimensional point cloud data of the underground parking lot acquired by the inclined laser radar, and the three-dimensional point cloud data of the underground parking lot under a relative coordinate system.
5. The indoor parking lot high-precision map collecting device as claimed in claim 1, wherein the towing device body comprises a tricycle and a fixing seat mounted on the tricycle.
6. The indoor parking lot high-precision map collecting device according to claim 5, wherein the camera equipment, the positioning and attitude determining module and the laser radar module are all located on the fixed base.
7. The indoor parking lot high-precision map collecting device as claimed in claim 5 or 6, further comprising a bracket; the camera equipment is fixed on the fixed seat through the support.
8. The indoor parking lot high-precision map acquisition device according to claim 2, wherein the wheel encoder odometer is located on a rear axle of the tricycle.
9. The indoor parking lot high-precision map acquisition device according to claim 1, wherein in terms of absolute position information of the underground parking lot in the output absolute coordinate system, the resolving module is configured to:
determining a plurality of pairs of homonymous points according to the three-dimensional point cloud data of the absolute coordinate system in the open air environment, the three-dimensional point cloud data of the underground parking lot and the camera photo information;
determining position information of a plurality of pairs of the same-name points under an absolute coordinate system and position information of the same-name points under a relative coordinate system according to the absolute position information of the open-air environment under the absolute coordinate system and the relative position information of the underground parking lot under the relative coordinate system;
calculating a rotation matrix and a translation vector between the same-name points, which are converted from the three-dimensional point cloud data of the underground parking lot in the relative coordinate system to the absolute coordinate system, according to the position information of the same-name points in the absolute coordinate system and the position information of the same-name points in the relative coordinate system;
and converting the relative position information of the underground parking lot under the relative coordinate system into the absolute position information of the underground parking lot under the absolute coordinate system according to the translation vector between the rotation matrix and the same-name point.
10. The device for acquiring the high-precision map of the indoor parking lot according to claim 9, wherein in the aspect of calculating the translation vector between the rotation matrix and the homonymy point according to the position information of the homonymy point in the absolute coordinate system and the position information of the homonymy point in the relative coordinate system, the calculating module is configured to:
calculating translation vectors between the rotation matrix and the homonymy points by adopting a least square method according to the position information of the plurality of pairs of homonymy points in an absolute coordinate system and the position information of the plurality of pairs of homonymy points in a relative coordinate system;
the number of the multiple pairs of the same name points is at least three pairs.
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