CN108279023B - Precision checking method and device for field data acquisition equipment, acquisition vehicle and field acquisition system - Google Patents
Precision checking method and device for field data acquisition equipment, acquisition vehicle and field acquisition system Download PDFInfo
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- CN108279023B CN108279023B CN201710008470.6A CN201710008470A CN108279023B CN 108279023 B CN108279023 B CN 108279023B CN 201710008470 A CN201710008470 A CN 201710008470A CN 108279023 B CN108279023 B CN 108279023B
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Abstract
The invention discloses a precision checking method and device for field data acquisition equipment, an acquisition vehicle and a field acquisition system, wherein the method comprises the following steps: carrying out effective repeated data acquisition at least twice on the pre-selected object in the checking area, and acquiring base station GPS data during repeated acquisition; combining with base station GPS data, carrying out track calculation on the data obtained by repeated acquisition to obtain accurate track data of laser scanning data, and further obtaining laser point cloud data under a WGS84 three-dimensional coordinate system; carrying out point cloud ICP (inductively coupled plasma) fine registration on the laser point cloud data to obtain a registration error, judging whether the registration error exceeds the limit, finishing the current task when the registration error exceeds the limit and outputting a precision overrun prompt; and if the data is not over-limit, outputting a task acquisition starting prompt. Therefore, by implementing the method, whether the external calibration precision of the laser scanner of the collection vehicle meets the data collection requirement or not can be quickly and effectively evaluated before the field collection task is started every time.
Description
Technical Field
The invention relates to the field of map data acquisition, in particular to a method and a device for checking the precision of field data acquisition equipment, an acquisition vehicle and a field acquisition system.
Background
The automatic driving map is an indispensable important supporting technology for automatic driving, field data acquisition of a multi-sensor integrated mobile acquisition vehicle is a core channel for acquiring automatic driving map data, and is also one of important links for producing and manufacturing the map. As the development of the automatic driving technology is more and more rapid, the high-precision map is required to be matured rapidly so as to provide more accurate and fresh map data.
In actual acquisition operation, system calibration parameters of measurement sensors such as a laser scanner and a panoramic camera integrated in a mobile acquisition vehicle change in the field acquisition process, and system calibration needs to be performed in a three-dimensional calibration field at irregular intervals. However, the calibration work of the three-dimensional calibration field system of the mobile collection vehicle needs to consume large manpower and material cost, and field collection personnel can hardly grasp the system calibration period, so that the accuracy of data acquired by the mobile collection vehicle is hardly guaranteed, and the efficiency and quality of field data acquisition of the automatic driving map are affected.
At present, a method for distributing ground three-dimensional control points is adopted to carry out precision check on external calibration of a vehicle-mounted laser scanner, in the method, an artificial target is distributed in an outdoor open area, an automatic driving map field acquisition vehicle obtains laser point cloud data of the area and extracts object space three-dimensional coordinates of a target point from the point cloud, and then the external calibration precision of the vehicle-mounted laser scanner is evaluated by comparing the laser point cloud coordinates of the target point with measurement coordinates of a total station.
However, the inventors of the present invention found that: the existing method for checking the precision of the external calibration of the laser scanner of the collection vehicle by depending on a three-dimensional control field needs to lay ground three-dimensional control points and manually extract control point targets from the scanning laser point cloud, and the flexibility is poor. Meanwhile, due to the fact that the arrangement of the three-dimensional control points brings large manpower and material resource consumption, the calibration precision calibration method is poor in implementability and timeliness, only can be used for checking the external calibration precision of the laser scanner of the collection vehicle in a long time period, and cannot guarantee the precision of collection of the external data of the automatic driving high-precision map.
Disclosure of Invention
In view of the above, the present invention provides a method and an apparatus for checking precision of field data acquisition equipment, which can quickly and effectively evaluate whether the external calibration precision of a laser scanner of an acquisition vehicle meets the data acquisition requirement before the field acquisition task starts each time. Meanwhile, the invention also provides a collection vehicle and an external work collection system for realizing efficient collaborative collection operation.
The invention discloses a precision checking method for field data acquisition equipment, which comprises the following steps:
carrying out effective repeated data acquisition at least twice on the pre-selected object in the checking area, and acquiring base station GPS data during repeated acquisition;
combining the base station GPS data, performing track calculation on the repeatedly acquired data to obtain accurate track data of the laser scanning data;
according to the accurate track data of the laser scanning data and external calibration parameters of the vehicle-mounted laser scanner, carrying out point cloud calculation on the laser scanning data to obtain laser point cloud data under a WGS84 three-dimensional coordinate system;
performing point cloud ICP (iterative closest point) fine registration on the laser point cloud data to obtain a registration error, judging whether the registration error exceeds a limit, ending the current task when the registration error exceeds the limit, and outputting a precision out-of-limit prompt; and when the registration error is not exceeded, outputting a prompt for starting to collect the task.
In addition, the invention discloses a precision checking device of field data acquisition equipment, which comprises:
the data acquisition module is used for acquiring data for effectively and repeatedly acquiring at least two times of the objects in the pre-selected checking area and acquiring base station GPS data during repeated acquisition;
the track resolving module is used for resolving the track of the data obtained by repeated acquisition by combining the base station GPS data to obtain the accurate track data of the laser scanning data;
the point cloud resolving module is used for performing point cloud resolving on the laser scanning data according to the accurate track data of the laser scanning data and external calibration parameters of the vehicle-mounted laser scanner to obtain laser point cloud data under a WGS84 three-dimensional coordinate system;
the precise registration module is used for performing point cloud ICP precise registration on the laser point cloud data to obtain a registration error, judging whether the registration error exceeds the limit, ending the current task when the registration error exceeds the limit, and outputting a precision out-of-limit prompt; and when the registration error is not exceeded, outputting a prompt for starting to collect the task.
In addition, the invention discloses an automatic driving map data acquisition vehicle which is configured with:
the vehicle-mounted measuring and sensing system is used for acquiring real-time vehicle position information and mapping geographic information data;
the networking equipment is used for building a vehicle-mounted network and a communication environment and establishing communication connection;
the vehicle-mounted computer is provided with a cooperative acquisition operation platform, is connected with the vehicle-mounted measurement sensing system and the networking equipment, is used for acquiring state information of the vehicle-mounted measurement sensing system and receiving, analyzing and storing data acquired by the vehicle-mounted measurement sensing system, and is also used for being provided with the field data acquisition equipment precision checking device in any one of the technical schemes; the cooperative acquisition operation platform is connected with the vehicle-mounted measurement sensing system, the networking equipment and the vehicle-mounted computer, is used for accessing a network through the networking equipment, controlling the cooperative operation of the vehicle-mounted measurement sensing system and acquiring data acquired by the vehicle-mounted measurement sensing system, and is used for monitoring the real-time position information of the vehicle, judging whether the vehicle exceeds an effective measurement range, alarming when the vehicle exceeds the effective measurement range, and recording an out-of-range alarm event.
Correspondingly, the invention discloses a field data acquisition system, which comprises:
at least one automatic driving map data acquisition vehicle according to any one of the above technical schemes;
a mobile acquisition measurement base station comprising: the measuring base station is erected in the area to be collected and used for providing base station GPS data for the collecting vehicle; the portable acquisition terminal at the base station side is provided with a cooperative acquisition operation platform which is used for operating the cooperative acquisition operation platform at the base station side and acquiring the acquisition data and the state information of the acquisition vehicle and the base station in real time through a network protocol; the base station side cooperative acquisition operation platform is used for realizing account connection and data communication with cooperative acquisition operation platforms on other terminals through a mobile network; the system comprises a base station, a wireless network and a wireless network, wherein the wireless network is used for setting an electronic fence according to the position of the base station and the effective coverage area, and carrying out early warning, alarming and event recording on the condition of criticality or border crossing of the electronic fence;
the acquisition vehicle is in communication connection with the mobile acquisition and measurement base station through a mobile internet, and the collaborative acquisition operation platforms respectively running at the vehicle end and the base station side are connected through an account system, and carry out data transmission and information communication to realize collaborative acquisition of the field data of the automatic driving map.
Compared with the prior art, the technical scheme disclosed by the invention has the following advantages:
in the technical scheme, the repeated scanning data and corresponding processing are used for checking the external calibration precision of the laser scanner acquired by the automatic driving map in the field, control points do not need to be arranged, only the repeated scanning laser point cloud data of the same ground object is used, the quick and efficient precision checking of the external calibration parameters of the laser scanner can be realized, the base station GPS data is obtained in real time through the mobile internet, and the precision checking process can be realized quickly and efficiently. The method for checking the external calibration precision of the laser scanner for automatically driving map field collection can quickly and effectively evaluate whether the external calibration precision of the laser scanner of the collection vehicle meets the data collection requirement before the beginning of each field collection task, can quickly, conveniently and fully automatically find the abnormal change of the external calibration parameters of the laser scanner of the collection vehicle, effectively optimizes the field data collection flow of the automatically driving map, solves the problems of inflexible calibration precision and poor timeliness of field data collection equipment of the automatically driving map, and avoids the waste of manpower and material resources caused by the collection of data which does not meet the precision requirement.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic flow chart of a precision checking method for field data acquisition equipment according to an embodiment of the present invention;
fig. 2 is a block diagram of a precision checking device of field data acquisition equipment according to an embodiment of the present invention;
fig. 3 is a block diagram of the field collection system according to the embodiment of the present invention;
FIG. 4 is a block diagram of the communication interface in an embodiment of the present invention;
fig. 5 is a schematic operation diagram of the precision checking device of the field data acquisition equipment in the embodiment of the invention.
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 derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
Method embodiment
Referring to fig. 1, which is a schematic flow chart of a precision checking method for field data acquisition equipment according to an embodiment of the present invention, the precision checking method for field data acquisition equipment includes:
s100: and selecting a checking area in an outdoor area covered by the acquired base station signals.
In the step, before a single automatic driving map field data acquisition task is started, an outdoor area with good GPS signals and coverage of base station signals is pre-selected as a checking area.
S105: and performing effective repeated data acquisition at least twice on the ground objects in the checking area, and acquiring the base station GPS data during repeated acquisition through a mobile internet, such as a 4G or 5G communication network.
The method comprises the following steps of carrying out effective repeated data acquisition twice on ground objects in the checking area, wherein the effective repeated data acquisition can comprise the acquisition of data such as laser scanning, GPS, inertial navigation, odometer and the like.
S110: and (4) combining the GPS data of the base station, carrying out track calculation on the data obtained by repeated acquisition, and obtaining accurate track data of the laser scanning data.
For example, data such as a vehicle-mounted GPS, a base station GPS, a milemeter, inertial navigation and the like are subjected to close-coupled calculation to obtain accurate track data of laser scanning data;
s115: and performing point cloud calculation on the laser scanning data according to the accurate track data of the laser scanning data and the external calibration parameters of the vehicle-mounted laser scanner to obtain laser point cloud data under a WGS84 three-dimensional coordinate system.
The two sections of laser point cloud data can be resolved to a WGS84 three-dimensional coordinate system by track interpolation in combination with external calibration parameters of the vehicle-mounted laser scanner;
s120: and carrying out point cloud ICP (inductively coupled plasma) fine registration on the laser point cloud data.
In this step, in the process of performing ICP (Iterative Closest Point) fine registration on two repeated segments of laser Point cloud data, a Point cloud search process and an Iterative registration process can be accelerated by establishing a K-D tree index for the laser Point cloud.
S125: and acquiring a registration error, and checking whether the external calibration error of the vehicle-mounted scanner meets the data precision requirement or not through the registration error.
S130: judging whether the registration error exceeds the limit, if not, checking to be qualified, and executing S135; and if the registration error exceeds the limit, the checking is unqualified, and S140 is executed.
S135: and when the registration error is not exceeded, outputting a prompt for starting to collect the task.
S140: and finishing the current task and outputting a precision overrun prompt.
In this embodiment, whether the external calibration error of the vehicle-mounted scanner meets the data precision requirement is checked through the registration error, and due to the existence of the external calibration error of the laser scanner acquired by the autopilot map field, the repeated scanning laser point cloud data of the same ground object are not overlapped. Under the condition of good GPS signals, the positioning and attitude determination errors of the GPS/INS can be ignored, and the repeated scanning laser point cloud misalignment errors can be summarized as the external calibration errors of the scanner. And performing ICP registration on the two sections of repeatedly scanned laser point cloud data, and judging whether the external calibration error of the vehicle-mounted scanner exceeds the limit or not according to the registration errors of the two sections of repeatedly scanned laser point cloud data.
When the registration error exceeds the limit, the external calibration error of the vehicle-mounted scanner does not meet the precision requirement, and the precision calibration needs to be carried out on the external calibration error. When the registration error is not exceeded, the external calibration error of the vehicle-mounted scanner meets the precision requirement, and the acquisition task can be started.
And judging whether the registration error exceeds the limit, comparing the registration error of iterative convergence with a preset error threshold value to judge, wherein the error threshold value is formulated according to data acquisition precision, and further checking and acquiring the external calibration error of the vehicle laser scanner.
As an optional implementation manner, the precision checking method for the field data acquisition device may further include:
s150: and according to the output precision overrun prompt, carrying out precision calibration on the vehicle-mounted scanner. The precision calibration can be carried out by arranging a three-dimensional calibration field system.
In the above embodiment, the repeatedly acquired data includes vehicle-mounted GPS data, laser scanning data, inertial navigation data, and odometer data.
Alternatively, S110: the track calculation is carried out on the data obtained by repeated acquisition by combining the base station GPS data, and the accurate track data of the laser scanning data is obtained, further comprising the following processing procedures:
s1101: acquiring high-precision differential GPS data according to the vehicle-mounted GPS data and the base station GPS data;
s1102: and carrying out close coupling calculation on the differential GPS data, the odometer data and the inertial navigation data to obtain accurate track data of the laser scanning data of the acquisition vehicle.
The track data is acquired vehicle instantaneous position and attitude data (Longitude, Latitude, Elevation, Pitch, Heading, respectively representing Longitude, Latitude, Elevation, Roll angle, Pitch angle, and course angle) recorded according to a certain sampling frequency.
Alternatively, S115: the point cloud calculation of the laser scanning data to obtain the laser point cloud data under the WGS84 three-dimensional coordinate system further comprises the following processing procedures:
s1151: carrying out Gaussian-Kruger 3-degree zone projection on the longitude and latitude values in the obtained track data, and converting the longitude and latitude into WGS84 three-dimensional projection coordinates;
s1152: according to the time information of each laser point in the laser point cloud, instantaneous pose parameters of the laser point at the moment of acquiring are obtained through track interpolation;
s1153: combining the external calibration parameters of the vehicle laser scanner and the instantaneous pose parameters of the laser point, converting the laser point from a local three-dimensional coordinate system of the scanner to a WGS84 three-dimensional projection coordinate system, and obtaining laser point cloud data;
s1154: and repeating the steps, and converting all the laser scanning data obtained by repeated collection into laser point cloud data under a WGS84 three-dimensional projection coordinate system.
Alternatively, S120: the point cloud ICP fine registration of the laser point cloud data and the registration error acquisition further comprise:
sampling original point cloud data: performing ICP iteration processing on the repeatedly acquired original point cloud, and sampling from the original point cloud in each iteration process according to a certain rule;
matching corresponding points: determining a point set corresponding to the original point cloud acquired each time;
and rejecting mismatching point pairs: constructing an error equation according to each point in the corresponding point set;
and coordinate transformation solving: and iteratively calculating the optimal coordinate transformation by a least square method, acting the transformation on the source point cloud, and iteratively executing until a certain preset convergence criterion is met to obtain the registration error.
In the point cloud data sampling and corresponding point matching process, a K-D tree index can be established for laser point cloud to accelerate the point cloud searching process and the iterative registration process.
It can be seen from the above embodiments that the precision checking method for field data acquisition equipment is a rapid checking method for automatically acquiring the external calibration precision of a map field data acquisition laser scanner, and the method does not need to arrange control points, only enables the laser point cloud data of the same ground object to be repeatedly scanned, and can achieve rapid and efficient precision checking of the external calibration parameters of the laser scanner. The method has high flexibility and low checking cost, and can quickly and effectively check the external calibration precision of the laser scanner of the acquisition vehicle before starting an external acquisition task every time so as to ensure the quality of data acquisition. The method for checking the external calibration precision of the laser scanner for automatically acquiring the map field work can be completed before each field work acquisition task is started, the abnormal change of the external calibration parameters of the laser scanner of the acquisition vehicle can be quickly, conveniently and automatically found, the field work data acquisition process of the automatically driving map is effectively optimized, and the waste of manpower and material resources caused by the acquisition of data which does not meet the precision requirement is avoided.
Therefore, the precision checking method of the field data acquisition equipment does not need to arrange field control points, and has the advantages of flexibility and convenience. Moreover, the precision checking method avoids the process of manually or semi-automatically extracting the control point, and the base station data is transmitted to the computer in real time through the mobile internet, so that the method has the advantages of full automation and high time efficiency. Therefore, by implementing the precision checking method, the laser scanner external calibration precision checking can be quickly and effectively carried out before the automatic driving map field collection task starts each time, the field data collection flow is optimized, and the confusion and waste caused by collecting data which does not meet the precision requirement on the whole field collection and field processing process are avoided.
Product examples
Referring to fig. 2, which is a block diagram of an accuracy check device for field data acquisition equipment according to an embodiment of the present invention, the accuracy check device for field data acquisition equipment includes:
the data acquisition module 301 is configured to acquire data obtained by performing effective repeated acquisition on the ground objects in the check area at least twice, and acquire base station GPS data during repeated acquisition;
the track resolving module 302 is configured to perform track resolving on the repeatedly acquired data in combination with the base station GPS data to obtain accurate track data of the laser scanning data;
the point cloud calculating module 303 is used for performing point cloud calculation on the laser scanning data according to the accurate track data of the laser scanning data and external calibration parameters of the vehicle-mounted laser scanner to obtain laser point cloud data under a WGS84 three-dimensional coordinate system;
a fine registration module 304, configured to perform point cloud ICP fine registration on the laser point cloud data to obtain a registration error;
the precision evaluation module 306 is used for judging whether the registration error calculated by the fine registration module exceeds the limit, ending the current task when the registration error exceeds the limit, and needing to perform precision calibration on the vehicle-mounted scanner; and when the registration error is not exceeded, outputting a prompt for starting to collect the task.
In the above embodiment, the repeatedly acquired data includes vehicle-mounted GPS data, laser scanning data, inertial navigation data, and odometer data.
In an alternative embodiment, the trajectory calculation module 302 may further include:
the difference unit is used for acquiring high-precision difference GPS data according to the vehicle-mounted GPS data and the base station GPS data;
the calculating unit is used for carrying out close coupling calculation on the differential GPS data, the odometer data and the inertial navigation data to obtain accurate track data of the laser scanning data of the collection vehicle;
in an optional embodiment, the point cloud calculating module 303 may further include:
the first conversion unit is used for carrying out Gaussian-Kruger 3-degree band projection on the longitude and latitude values in the obtained track data and converting the longitude and latitude into WGS84 three-dimensional projection coordinates;
the pose calculation unit is used for obtaining the instantaneous pose parameters of the laser point acquisition moment through track interpolation according to the time information of each laser point in the laser point cloud;
the second conversion unit is used for combining and acquiring external calibration parameters of the vehicle laser scanner and instantaneous pose parameters of the laser point, and converting the laser point from a local three-dimensional coordinate system of the scanner to a WGS84 three-dimensional projection coordinate system to obtain laser point cloud data; and the system is used for converting all laser scanning data acquired repeatedly into laser point cloud data under a WGS84 three-dimensional projection coordinate system.
In an alternative embodiment, the fine registration module 304 may further include:
the data sampling unit is used for carrying out ICP iterative processing on the repeatedly acquired original point cloud, and in each iterative process, the original point cloud is respectively sampled according to a certain rule;
the corresponding point matching unit is used for determining a corresponding point set of the original point cloud acquired each time;
the mismatching point pair removing unit is used for constructing an error equation according to each point in the corresponding point set;
and the solving unit is used for iteratively calculating the optimal coordinate transformation by a least square method, acting the transformation on the source point cloud, and iteratively executing until a certain preset convergence criterion is met to obtain the registration error.
The embodiment provides a quick convenient quick check device of on-vehicle measuring sensor external calibration precision for automatic driving map field data acquisition, can assess effectively before field collection task begins at every turn whether the external calibration precision of collection car laser scanner satisfies the data acquisition requirement fast, can accomplish before field collection task begins at every turn, it is quick, convenient, discover the abnormal change of gathering the external calibration parameter of car laser scanner fully automated, automatic driving map field data acquisition flow has been optimized effectively, avoid causing the waste to manpower and materials because of gathering the data that does not satisfy the required precision.
Referring to fig. 3, which is a block diagram of a field data acquisition system according to an embodiment of the present invention, the field data acquisition system includes: the system comprises at least one automatic driving map data acquisition vehicle and a mobile acquisition and measurement base station, wherein the acquisition vehicle is in communication connection with the mobile acquisition and measurement base station through a mobile internet, and collaborative acquisition operation platforms respectively running on the acquisition vehicle side and the base station side are connected through an account system and carry out data transmission and information communication so as to realize collaborative acquisition of field data of the automatic driving map.
In this embodiment, fig. 3 also shows a map data collecting vehicle disclosed in this embodiment of the present invention, which is configured with an on-board measuring and sensing system 100, a networking device 105, and an on-board computer 120, wherein the on-board measuring and sensing system 100 is used for acquiring real-time position information of a vehicle and mapping geographic information data. The networking device 105 is used to build a vehicle network and a communication environment, and to establish a communication connection. The vehicle-mounted computer 120 is configured with a cooperative acquisition operation platform 121, connected to and controlling the vehicle-mounted measurement sensing system and the networking device, and configured to acquire status information of the vehicle-mounted measurement sensing system 100, receive, analyze and store data acquired by the vehicle-mounted measurement sensing system, and configured with the precision checking device of the field data acquisition device disclosed in any of the above embodiments.
The cooperative acquisition operation platform 121 installed on the vehicle-mounted computer 120 is connected with the vehicle-mounted measurement sensing system 100 and the networking device 105, and is used for accessing a network through the networking device, controlling the vehicle-mounted measurement sensing system to cooperatively operate and acquiring data acquired by the vehicle-mounted measurement sensing system, monitoring real-time position information of a vehicle, judging whether the vehicle exceeds an effective measurement range, alarming when the vehicle exceeds the effective measurement range, and recording an out-of-range alarm event.
As an optional implementation manner, the networking device 105 may further include a WIFI router and a communication interface, where: the WIFI router is used for converting the wired network signal and the mobile network signal into a wireless network signal and sending the received data to a destination address.
As shown in fig. 4, the communication interface may include: the routing switch module 305, the network interface module 310, the wireless module 315, the serial/network interface module 320, the USB interface/network interface module 325, the serial module 330, the USB interface module 335, and the like are respectively configured to receive or transmit data based on a corresponding communication protocol. The sensors of different interfaces are converted and then are uniformly connected to the network, and information interaction is carried out on the sensors, the cooperative acquisition operation platform 121, the vehicle-mounted computer 120 and the like in real time. Most sensors support the network interface or access the network interface after interface conversion, the communication interface of the embodiment networks all interfaces, and the network interface communication based on the TCP/IP protocol has high transmission rate, high data reliability, good expandability and can conveniently access new equipment at any time.
It should be noted that, in the foregoing embodiment, the route switching module sends the received data to the destination address; the network port module receives or sends data by utilizing a TCP/IP communication protocol; the wireless module receives or transmits data by utilizing a wireless communication protocol; the serial port/network port conversion module converts data formed according to a serial port communication protocol into data formed according to a TCP/IP communication protocol or converts data formed according to the TCP/IP communication protocol into data formed according to the serial port communication protocol; the serial port module sends or receives data according to a serial port communication protocol; the USB/internet port conversion module converts data formed according to a USB communication protocol into data formed according to a TCP/IP communication protocol or converts data formed according to the TCP/IP communication protocol into data formed according to the USB communication protocol; the USB interface receives or transmits data according to a USB communication protocol.
In an optional embodiment, the vehicle-mounted measurement sensing system may further include: the vehicle-mounted laser scanner, the panoramic camera, the combined navigation equipment and other measuring sensors are respectively connected with the vehicle-mounted computer and are respectively used for acquiring laser point cloud data, panoramic image data, combined navigation data and vehicle real-time information.
As an optional implementation, the computer may further include a control system 122, where the control system 122 is connected to the on-board measurement sensing system and configured to generate a time-space synchronization control signal, where the synchronization control signal is configured to record real-time-space information and drive the on-board measurement sensing system to perform time-space synchronization data acquisition, and perform time-space fusion processing on data acquired by the on-board measurement sensing system. The sensing and collecting system 100 is further used for collecting mapping geographic information data and vehicle real-time information according to the triggering of the control system synchronous control signal in the collecting operation.
As an optional implementation manner, the collaborative capturing work platform may further include: the system comprises an account login system, a data module, a cooperation module and a monitoring module. Wherein: the account login system is used for logging in the collaborative acquisition operation platform, the data module is used for storing map base map data which are updated regularly, and the collaboration module is used for collaboratively operating with the collaborative operation platforms of other terminals to carry out data transmission and information sharing. The monitoring module is used for monitoring the operation state of the vehicle and the real-time position information of the vehicle according to the information acquired by the cooperation module, judging whether the vehicle exceeds an effective measurement range and the abnormal operation condition, and carrying out early warning, alarming and event recording.
As an alternative embodiment, the vehicle mount computer 120 can further include a networking module 124 and a display module 123, wherein: the networking module 124 is used for accessing the internet through a networking device, and performing communication connection with other terminals logging in the cooperative acquisition operation platform through the account login system of the cooperative acquisition operation platform. The display module 123 is configured to display an interface of the account login system to log in the collaborative acquisition operation platform, and is configured to display, on the map base map, location information, task execution conditions, data acquisition states of other terminals logging in the collaborative acquisition system, and a coverage of effective measurement.
In the foregoing embodiment, fig. 3 also shows a mobile acquisition and measurement base station disclosed in the embodiment of the present invention, where the mobile acquisition and measurement base station includes: the GPS measuring base station 200 is erected in an area to be collected and used for providing base station GPS data for a collecting vehicle, and high-precision differential GPS data can be obtained according to the measuring base station GPS data and vehicle-mounted GPS data. The portable collection terminal 205 on the base station side is configured with a cooperative collection operation platform 210 for operating the cooperative collection operation platform on the base station side, and acquiring the collected data and status information of the collection vehicle and the base station in real time through a network protocol. The cooperative collection operation platform 210 is used for achieving account connection and data communication with cooperative collection operation platforms on other terminals through a mobile network, setting an electronic fence according to a base station position and an effective coverage area, and performing early warning, alarming and event recording on a critical or out-of-range condition of the electronic fence.
It should be noted that any of the above-mentioned collection vehicles and any of the measurement base stations may form an field data collection system, wherein the cooperative collection operation platform may be used to invoke a map base map and display the location information, task execution condition, data collection status and effective coverage area of the base station of each platform login terminal on the map base map in real time, and perform early warning, alarm and event recording on the out-of-range event beyond the effective measurement area.
Optionally, the platform login terminals perform text or voice communication through the cooperative acquisition operation platform, so that real-time information sharing between the acquisition vehicle and the base station and cooperative propulsion of the acquisition operation flow are realized.
Here, the mobile internet may use a 4G communication network as an example, and further describes the field data acquisition system:
in this embodiment, the automatic driving map data field acquisition system establishes a 4G network through the vehicle-mounted WIFI router to realize information sharing and collaborative operation between the base station and the acquisition workshop. The vehicle-mounted portable computer is connected with the vehicle-mounted measuring sensor through a kilomega network port or a USB3.0 interface and acquires real-time acquisition data and state information of the sensor; the base station can adopt a smart phone as an acquisition terminal to acquire the acquisition data and the state information of the GPS of the base station in real time through a network protocol. The vehicle-mounted portable computer and the base station acquisition terminal realize information sharing between the vehicle-mounted portable computer and the base station acquisition terminal through a 4G network, display the position information, the task execution condition, the data acquisition state and the base station coverage range of the other side in real time in respective cooperative acquisition platforms, and give timely early warning, alarming and event recording to critical or abnormal conditions.
In addition, for ease of understanding, the following example of the process of collecting the business data is as follows:
1) carry on in the collection car multiple measuring transducer such as laser scanner, panoramic camera in order to realize the collection of survey and drawing geographic information data, and GPS measures the base station and erects in waiting to gather the region, provides basic station GPS data for the collection car. The GPS base station has a certain effective coverage area, the acquisition vehicle can only work in the effective coverage area of the base station to ensure the accuracy of data acquisition, and high-accuracy differential GPS data can be obtained according to the GPS data of the measurement base station and the vehicle-mounted GPS data. The vehicle-mounted portable computer is connected with the vehicle-mounted measuring sensor through a kilomega network port or a USB3.0 interface and acquires real-time acquisition data and state information of the sensor; the GPS base station mobile phone acquisition terminal acquires the acquisition data and the state information of the base station GPS in real time through a network protocol. The vehicle-mounted portable computer and the base station mobile phone acquisition terminal respectively operate a collaborative acquisition platform, and the vehicle-mounted portable computer and the base station mobile phone acquisition terminal realize account connection and data communication through a 4G network;
2) the acquisition vehicle-end collaborative acquisition platform uses the off-line map data as a base map, and the following contents are visualized on the map:
A. a base station status;
B. collecting the real-time position of the vehicle;
C. the base station position is used for drawing a circle with the coverage range as the radius;
D. forming an electronic fence by using the position and the coverage range of the base station, and carrying out early warning, alarming and event recording on critical or out-of-range conditions;
E. the design location of the next base station and its coverage.
3) The base station mobile phone terminal collaborative acquisition platform uses a network map as a base map, and the following contents are visualized on the map:
A. collecting the state of the vehicle;
A. the position of the base station, and draw the circle taking the coverage as the radius with the position;
B. forming an electronic fence by using the position and the coverage range of the base station, and carrying out early warning, alarming and event recording on critical or out-of-range conditions;
D. collecting the real-time position of the vehicle;
E. the design location of the next base station and its coverage.
4) The collection vehicle operator and the base station operator can perform text or voice communication through the two ends of the collection vehicle and the base station operator in cooperation with the collection platform.
It can be seen from the above embodiments that the automatic driving map data acquisition collaborative operation system, the acquisition vehicle, and the base station disclosed by the present invention realize information sharing between the two through respective acquisition terminals via a mobile network, display the position information, task execution condition, data acquisition state, and base station coverage of the other party in respective collaborative acquisition platforms, and give timely early warning, alarm, and event record to critical or abnormal conditions. Therefore, a cooperative operation system between the automatic driving map data acquisition vehicle and the GPS base station is constructed, effective communication and efficient operation of the acquisition system are realized, and real-time and intuitive information sharing, efficient communication and cooperative promotion of a working process between the automatic driving map data acquisition vehicle and the GPS base station are realized through a cooperative acquisition operation platform. Therefore, the automatic driving map data acquisition collaborative operation system disclosed by each embodiment effectively reduces the labor burden, optimizes the operation flow and improves the efficiency and quality of field data acquisition.
Based on the inventive concepts of the above embodiments, an embodiment of the present invention further provides a cooperative map data collection method, where the method employs the cooperative automatic driving map data collection system of any of the above embodiments, and the cooperative map data collection method includes:
after the mobile acquisition measurement base station is laid, the cooperative acquisition operation platform is operated on the acquisition vehicle side and the base station side respectively, and communication connection is carried out through an account login system.
And at the acquisition vehicle end, calling a map base map through the cooperative acquisition operation platform, and displaying the state of the base station, the real-time position of the acquisition vehicle, the position of the base station, an electronic fence formed by the position and the coverage range of the base station, and the design position and the coverage range of the next base station on the map base map. And after the acquisition vehicle end receives the signal that the base station starts to work normally, the acquisition vehicle end starts to carry out data acquisition formally. And carrying out early warning, alarming and event recording on critical or out-of-range conditions.
And on the base station side, a base station acquisition terminal runs a collaborative acquisition operation platform, calls a map base map, displays an acquisition state of an acquisition vehicle, a real-time position of the acquisition vehicle, a position of the base station, an electronic fence formed by the position and a coverage range of the base station, a design position and a coverage range of a next base station, and performs early warning, alarming and event recording on critical or out-of-range conditions. And when receiving the information of finishing the collection task at the collection vehicle side, transferring the base station.
Based on the foregoing embodiments, with reference to the operation environment shown in fig. 5 and the following examples, the operation process of the precision check apparatus for field data acquisition equipment is illustrated as follows:
1) the automatic driving map field data acquisition vehicle carries a vehicle-mounted WIFI router, a 4GSIM card of a telecommunication operator (mobile, telecommunication or Unicom) is inserted into the router, and a vehicle-mounted portable computer can form network connection with a base station GPS acquisition terminal through vehicle-mounted WIFI;
2) before a single automatic driving map field data acquisition task starts, an outdoor checking area is searched, and the outdoor checking area needs to meet the following requirements:
A. the collection vehicle can be ensured to pass;
B. fewer vehicles and pedestrians are passed;
C. a certain building is arranged in the measuring range of the laser scanner, and the building cannot be too spacious;
D. surrounding buildings cannot be too high, and the good GPS signal is ensured;
E. and ensuring the signal coverage of the base station.
3) After the equipment of the automatic driving map field data acquisition vehicle is normally started and initialized, the acquisition vehicle drives into an examination and check area, and repeated data acquisition is carried out on ground objects in the area twice, the data acquisition length is about 50 meters, the vehicle speed is controlled to be about 30KM/h, and the acquisition data (including laser data, vehicle-mounted GPS data, inertial navigation data and odometer data) are effective;
4) ensuring the base station to work normally during the repeated data acquisition period, and transmitting the GPS data of the base station to a vehicle-mounted portable computer through a 4G network in real time;
5) the method for generating the track and resolving the point cloud of the two sections of collected repeated laser point cloud data comprises the following steps:
A. high-precision differential GPS data is formed by a vehicle-mounted GPS and a base station GPS;
B. and carrying out close coupling calculation on the differential GPS data, the odometer data and the inertial navigation data to obtain accurate track data of the laser scanning data of the acquisition vehicle. The track data is acquired vehicle instantaneous position attitude data (Longitude, Latitude, Elevation, Roll, Pitch, and Heading, which respectively represent Longitude, Latitude, Elevation, Roll angle, Pitch angle, and course angle) recorded according to a certain sampling frequency;
C. carrying out Gaussian-Kruger 3-degree zone projection on longitude and latitude values in the track data, and converting the longitude and latitude into WGS84 three-dimensional projection coordinates;
D. according to the time information of each laser point in the laser point cloud, the position attitude value [ Lon ] of the laser point acquisition vehicle at the moment is obtained through track interpolationt,Latt,Elet,Rollt,Pitcht,Headt]From which a rotation matrix R can be constructedtAnd a translation vector tt；
E. External calibration parameters (rigid body transformation parameters, including rotation moments) combined with collection of vehicle laser scannersArray Rc，tc) And instantaneous pose parameter R of laser spott、ttThe laser point can be converted from the local three-dimensional coordinate system of the scanner to the three-dimensional projection coordinate system of WGS84, and the formula is as follows:
P＝Rc(Rtp+tt)+tc(formula 1)
Wherein, P and P represent the coordinate vector of the laser point under the local three-dimensional coordinate system of the scanner and the three-dimensional projection coordinate system of WGS84, respectively.
F. The D, E steps are repeated to obtain two sections of laser point cloud data under the WGS84 three-dimensional projection coordinate system.
6) Performing ICP (Iterative Closest Point) fine registration on the two sections of laser Point cloud data; the ICP point cloud registration algorithm process is described as follows:
for two segments of original point clouds P, Q, in each iteration process, corresponding point sets M and N (wherein M ∈ P and N ∈ Q, the number of points in a point set is k) are determined by sampling according to a certain rule, and each point in the point set corresponds to Mi—niAn error equation is constructed, the optimal coordinate transformation (namely a rotation matrix R and a translation vector t between two sections of point clouds) is iteratively calculated through a least square method, the transformation is acted on the source point cloud, and the process is iteratively carried out until a certain set convergence criterion is met. The error function of the iterative optimization is as follows:
wherein, the ICP point cloud registration algorithm is divided into 4 steps in each iteration:
A) sampling original point cloud data;
B) matching corresponding points;
C) rejecting mismatching point pairs;
D) and (5) solving coordinate transformation.
It should be noted that the point cloud searching process can be accelerated by constructing a K-D tree in the point cloud data sampling and corresponding point matching process;
7) comparing the registration error of the iterative convergence with a set error threshold (the threshold is set according to the data acquisition precision, such as and not limited to 1cm), and checking whether the external calibration error of the laser scanner of the acquisition vehicle meets the data precision requirement;
8) if the external calibration error of the automatic driving map field data acquisition laser scanner is not over-limit, the task acquisition can be started, otherwise, the current task is ended, and the acquisition vehicle is further calibrated.
In the embodiments, the base station is connected with the vehicle-mounted computer through a mobile internet such as a 4G communication network, GPS data of the base station can be transmitted to the vehicle-mounted computer in real time, precision check is performed by performing repeated laser scanning data acquisition on ground objects, and external calibration precision of the laser scanner is evaluated through point cloud ICP registration errors. Therefore, the vehicle-mounted repeated scanning data is used for carrying out quick and convenient vehicle-mounted scanner external calibration precision checking, so that the precision checking process can be realized quickly and efficiently.
In conclusion, the method and the device for checking the external calibration precision of the laser scanner for automatically acquiring the map field work can be completed before the start of each field work acquisition task, the abnormal change of the external calibration parameters of the laser scanner of the acquisition vehicle can be quickly, conveniently and automatically found, the process for acquiring the field work data of the automatically driving map is effectively optimized, and the waste of manpower and material resources caused by the acquisition of the data which does not meet the precision requirement is avoided.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
While the foregoing specification illustrates and describes several particular embodiments of the invention, it is to be understood, as noted above, that the invention is not limited to the forms disclosed herein, but is not intended to be exhaustive of other embodiments and may be used in various other combinations, modifications, and environments and is capable of changes within the scope of the inventive concept as described herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A precision checking method for field data acquisition equipment is characterized by comprising the following steps:
carrying out at least two times of effective repeated data acquisition on a pre-selected checking area, and acquiring base station GPS data during repeated acquisition;
combining the base station GPS data, performing track calculation on the repeatedly acquired data to obtain accurate track data of the laser scanning data;
according to the accurate track data of the laser scanning data and external calibration parameters of the vehicle-mounted laser scanner, carrying out point cloud calculation on the laser scanning data to obtain laser point cloud data under a WGS84 three-dimensional coordinate system;
carrying out point cloud ICP (inductively coupled plasma) fine registration on the laser point cloud data to obtain a registration error, judging whether the registration error exceeds the limit, ending the current task when the registration error exceeds the limit, and outputting a precision out-of-limit prompt; and when the registration error is not exceeded, outputting a prompt for starting to collect the task.
2. The field data acquisition device accuracy check method according to claim 1, further comprising: and according to the precision overrun prompt, carrying out precision calibration on the vehicle-mounted laser scanner.
3. The field data collection device accuracy check method according to claim 1, wherein the repeatedly collected data includes vehicle-mounted GPS data, laser scanning data, inertial navigation data, and odometer data;
the track calculation of the repeatedly acquired data by combining the base station GPS data to obtain the accurate track data of the laser scanning data further comprises the following steps:
acquiring high-precision differential GPS data according to the vehicle-mounted GPS data and the base station GPS data;
tightly coupling and resolving the differential GPS data, the odometer data and the inertial navigation data to obtain accurate track data of the laser scanning data of the acquisition vehicle;
the point cloud calculation of the laser scanning data to obtain the laser point cloud data under the WGS84 three-dimensional coordinate system further comprises:
carrying out Gaussian-Kruger 3-degree zone projection on the longitude and latitude values in the obtained track data, and converting the longitude and latitude into WGS84 three-dimensional projection coordinates;
according to the time information of each laser point in the laser point cloud, instantaneous pose parameters of the laser point at the moment of acquiring are obtained through track interpolation;
combining the external calibration parameters of the vehicle-mounted laser scanner and the instantaneous pose parameters of the laser point, converting the laser point from the local three-dimensional coordinate system of the vehicle-mounted laser scanner to a WGS84 three-dimensional projection coordinate system, and obtaining laser point cloud data;
and converting all the laser scanning data acquired repeatedly into laser point cloud data under a WGS84 three-dimensional projection coordinate system.
4. The precision checking method for field data acquisition equipment according to any one of claims 1 to 3, wherein the performing point cloud ICP fine registration on the laser point cloud data to obtain registration error further comprises:
sampling original point cloud data: performing ICP iteration processing on the repeatedly acquired original point cloud, and sampling from the original point cloud by a preset rule in each iteration process;
matching corresponding points: determining a point set corresponding to the original point cloud acquired each time;
and rejecting mismatching point pairs: constructing an error equation according to each point in the corresponding point set;
and coordinate transformation solving: and iteratively calculating the optimal coordinate transformation by a least square method, acting the transformation on the source point cloud, and iteratively executing until a preset convergence criterion is met to obtain the registration error.
5. The utility model provides a field data acquisition equipment precision checks device which characterized in that includes:
the data acquisition module is used for acquiring data for effectively and repeatedly acquiring at least two times of the objects in the pre-selected checking area and acquiring base station GPS data during repeated acquisition;
the track resolving module is used for resolving the track of the data obtained by repeated acquisition by combining the base station GPS data to obtain the accurate track data of the laser scanning data;
the point cloud resolving module is used for performing point cloud resolving on the laser scanning data according to the accurate track data of the laser scanning data and external calibration parameters of the vehicle-mounted laser scanner to obtain laser point cloud data under a WGS84 three-dimensional coordinate system;
the fine registration module is used for performing point cloud ICP fine registration on the laser point cloud data to obtain a registration error;
the precision evaluation module is used for judging whether the registration error calculated in the fine registration module exceeds the limit, finishing the current task when the registration error exceeds the limit, outputting a precision overrun prompt and needing to carry out precision calibration on the vehicle-mounted laser scanner; and when the registration error is not exceeded, outputting a prompt for starting to collect the task.
6. The field data collection device accuracy checking apparatus according to claim 5, wherein the fine registration module further comprises:
the data sampling unit is used for carrying out ICP iterative processing on the repeatedly acquired original point cloud, and in each iterative process, the original point cloud is respectively sampled according to a preset rule;
the corresponding point matching unit is used for determining a corresponding point set of the original point cloud acquired each time;
the mismatching point pair removing unit is used for constructing an error equation according to each point in the corresponding point set;
and the solving unit is used for iteratively calculating the optimal coordinate transformation by a least square method, acting the transformation on the source point cloud, and iteratively executing until a preset convergence criterion is met to obtain the registration error.
7. The field data acquisition device precision checking device according to claim 5 or 6, wherein the repeatedly acquired data comprises vehicle-mounted GPS data, laser scanning data, inertial navigation data and odometer data;
the trajectory resolving module further includes:
the difference unit is used for acquiring high-precision difference GPS data according to the vehicle-mounted GPS data and the base station GPS data;
the calculating unit is used for carrying out close coupling calculation on the differential GPS data, the odometer data and the inertial navigation data to obtain accurate track data of the laser scanning data of the collection vehicle;
the point cloud calculating module further comprises:
the first conversion unit is used for carrying out Gaussian-Kruger 3-degree band projection on the longitude and latitude values in the obtained track data and converting the longitude and latitude into WGS84 three-dimensional projection coordinates;
the pose calculation unit is used for obtaining the instantaneous pose parameters of the laser point acquisition moment through track interpolation according to the time information of each laser point in the laser point cloud;
the second conversion unit is used for combining the external calibration parameters of the vehicle-mounted laser scanner and the instantaneous pose parameters of the laser point, converting the laser point from the local three-dimensional coordinate system of the vehicle-mounted laser scanner to a WGS84 three-dimensional projection coordinate system, and obtaining laser point cloud data; and the system is used for converting all laser scanning data acquired repeatedly into laser point cloud data under a WGS84 three-dimensional projection coordinate system.
8. An autonomous driving map data acquisition vehicle, characterized in that it is equipped with:
the vehicle-mounted measuring and sensing system is used for acquiring real-time vehicle position information and mapping geographic information data;
the networking equipment is used for building a vehicle-mounted network and a communication environment and establishing communication connection;
the vehicle-mounted computer is provided with a cooperative acquisition operation platform, is connected with the vehicle-mounted measurement sensing system and the networking equipment, is used for acquiring state information of the vehicle-mounted measurement sensing system and receiving, analyzing and storing data acquired by the vehicle-mounted measurement sensing system, and is provided with the field data acquisition equipment precision checking device according to any one of claims 5 to 7;
the cooperative acquisition operation platform is used for accessing a network through the networking equipment, controlling the cooperative operation of the vehicle-mounted measurement sensing system, acquiring data acquired by the vehicle-mounted measurement sensing system, monitoring the operation state of the vehicle and the real-time position information of the vehicle, judging whether the vehicle exceeds an effective measurement range, alarming when the vehicle exceeds the effective measurement range, and recording an out-of-range alarm event.
9. The autonomous driving map data collection vehicle of claim 8, wherein:
the networking device further comprises:
the vehicle-mounted WIFI router is used for converting the wired network signal and the mobile network signal into a wireless network signal and sending the received data to a destination address;
the communication interface comprises a route exchange module, a network port module, a serial port/network port conversion module, a serial port module, a USB/network port conversion module and a USB interface, and is respectively used for receiving or sending data based on a corresponding communication protocol;
and/or the presence of a gas in the gas,
the on-board measurement sensing system further comprises: the vehicle-mounted laser scanner, the panoramic camera, the integrated navigation equipment and the vehicle real-time information measuring sensor are respectively connected with the vehicle-mounted computer and are respectively used for acquiring laser point cloud data, panoramic image data, integrated navigation data and vehicle real-time information.
10. A field data collection system, comprising:
at least one autonomous driving map data collection vehicle according to claim 8 or 9;
a mobile acquisition measurement base station comprising: the measuring base station is erected in the area to be collected and used for providing base station GPS data for the collecting vehicle; the portable acquisition terminal at the base station side is provided with a cooperative acquisition operation platform which is used for operating the cooperative acquisition operation platform at the base station side and acquiring the acquisition data and the state information of the acquisition vehicle and the base station in real time through a network protocol; the base station side cooperative acquisition operation platform is used for realizing account connection and data communication with cooperative acquisition operation platforms on other terminals through a mobile network; the system comprises a base station, a wireless network and a wireless network, wherein the wireless network is used for setting an electronic fence according to the position of the base station and the effective coverage area, and carrying out early warning, alarming and event recording on the condition of criticality or border crossing of the electronic fence;
the acquisition vehicle is in communication connection with the mobile acquisition and measurement base station through a mobile internet, and the collaborative acquisition operation platforms respectively running at the vehicle end and the base station side are connected through an account system, and carry out data transmission and information communication to realize collaborative acquisition of the field data of the automatic driving map.
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| CN109883435A (en) * | 2019-01-03 | 2019-06-14 | 北京百度网讯科技有限公司 | Control method, device, equipment and the storage medium of map data collecting |
| CN109830170B (en) * | 2019-01-16 | 2021-08-03 | 北京百度网讯科技有限公司 | Map data acquisition method, device, equipment and storage medium |
| CN113838359B (en) * | 2019-01-16 | 2023-06-13 | 北京百度网讯科技有限公司 | Method, device, equipment and storage medium for collecting map data |
| CN112150576B (en) * | 2019-06-28 | 2024-02-23 | 华晨汽车集团控股有限公司 | High-precision vector map acquisition system and method |
| CN110942514B (en) * | 2019-11-26 | 2022-11-29 | 三一重工股份有限公司 | Method, system and device for generating point cloud data and panoramic image |
| CN112904304A (en) * | 2019-12-04 | 2021-06-04 | 黑龙江省公路桥梁勘测设计院有限公司 | Operation method for improving multi-platform laser radar measurement quality |
| CN111007530B (en) * | 2019-12-16 | 2022-08-12 | 武汉汉宁轨道交通技术有限公司 | Laser point cloud data processing method, device and system |
| CN112985455B (en) * | 2019-12-16 | 2022-04-26 | 武汉四维图新科技有限公司 | Precision evaluation method and device of positioning and attitude determination system and storage medium |
| CN113393519B (en) * | 2020-03-12 | 2023-03-14 | 武汉四维图新科技有限公司 | Laser point cloud data processing method, device and equipment |
| CN111443360B (en) * | 2020-04-20 | 2022-06-24 | 北京易控智驾科技有限公司 | Automatic acquisition device and identification method for road boundary of unmanned driving system in mining area |
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