CN108898139A - Laser radar data anti-interference processing method and its experimental provision under a kind of rainy environment - Google Patents
Laser radar data anti-interference processing method and its experimental provision under a kind of rainy environment Download PDFInfo
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- CN108898139A CN108898139A CN201810562049.4A CN201810562049A CN108898139A CN 108898139 A CN108898139 A CN 108898139A CN 201810562049 A CN201810562049 A CN 201810562049A CN 108898139 A CN108898139 A CN 108898139A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/26—Segmentation of patterns in the image field; Cutting or merging of image elements to establish the pattern region, e.g. clustering-based techniques; Detection of occlusion
- G06V10/273—Segmentation of patterns in the image field; Cutting or merging of image elements to establish the pattern region, e.g. clustering-based techniques; Detection of occlusion removing elements interfering with the pattern to be recognised
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/30—Noise filtering
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
Abstract
The present invention provides the laser radar data anti-interference processing methods and its experimental provision under a kind of rainy environment.The device includes rubber tube, laser radar bracket, water water tank, plug, rain-proof lower stop piece, laser radar, rain-proof upper stop piece.This method sample to the data for simulating the laser radar in the environment that rains and converts image for laser data according to the distance of measurement and laser data intensity, and after filtering, the rejecting of rainy noise spot is carried out using successive frame comparison algorithm.To two-dimensional laser radar, the processing method of data under the environment that rains provides a solution to the present invention, can promote the use of outer scene and change the location navigation to rain under environment outside little robot chamber.
Description
Technical field
The present invention relates to the laser radar data under laser scanner technique field more particularly to a kind of rainy environment is anti-interference
Processing method and its experimental provision.
Background technique
Location and navigation technology is a key technology of mobile robot.Different, the Ke Yifen according to used sensor
For the location navigation of location navigation and view-based access control model sensor based on laser sensor.The method of view-based access control model sensor is to adopt
Environment is perceived with camera, compared with visual sensor, the strong antijamming capability of laser radar, information is accurate, therefore base
It is widely used in Mobile Robotics Navigation in the method for the environment sensing of laser sensor.Positioning based on laser
Navigation is the information for the laser radar that mobile robot is carried by acquisition, is determined by the processing to sensor information with analysis
The position of road sign point and robot in the environment in environment, to realize structural environment map, path planning, autonomous and
The process of the functions such as avoidance.
Robot environment's perception in situation of raining, at present often using the environment sensing of view-based access control model sensor,
The main reason is that because laser radar uses infrared laser ranging method, therefore its data generally can be by outdoor rainy environment
Mistake is generated to raindrop reflection and the interference reflected.This method of view-based access control model is using the lower raindrop in environment as dynamic disturbance
It is removed.Since visual sensor itself is easy the interference that is changed by ambient lighting, precision is limited, therefore this method is also simultaneously
It fully effective cannot solve the problems, such as.The characteristics of high range accuracy and high stability in order to make full use of laser sensor itself,
It is great for the research significance of the laser radar data Anti-interference algorithm under rainy environment.
Summary of the invention
In view of the defects existing in the prior art, the object of the present invention is to provide the laser radar numbers under a kind of rainy environment
According to anti-interference processing method and its experimental provision.The device can effectively simulate rainy environment, which can be with
The rejecting of erroneous point is carried out for the laser data under the environment.
In order to achieve the above objectives, the present invention adopts the following technical scheme that：
A kind of laser radar data anti-interference processing method under rainy environment, includes the following steps：
1）Gray level image is converted by the laser initial data containing erroneous point, conversion principle is according to laser radar returned data
Light intensity and distance value by each laser point convert a pixel in image, the gray value of pixel carries out normalizing according to light intensity
Change processing；
2）After the data of two-dimensional laser radar are converted to gray level image, during the error and normalization of laser radar itself
Error is introduced, collected data packet Noise will necessarily be made, therefore the method for taking filtering removes noise and interference；
3）Discrete sampling is carried out to the data of laser radar, using successive frame algorithm to the image containing erroneous point caused by raindrop
It carries out data screening and rejects.
The step 1）It is middle to convert gray level image for laser data, include the following steps：
1.1）The setting of image pixel depends on the data resolution of laser radar in plane, i.e., the position of each laser point is one
A pixel, the position of pixel are the distance for the data that laser radar returns；
1.2）The gray value of pixel is the normalization for the laser intensity that laser radar returns.
The step 2）The process of middle filtering comprises the steps of：
2.1）Image is handled using histogram equalization method, make the performance of gray scale being distributed on image histogram by
Intensively become uniformly, so that image overall contrast effect be made to enhance；
2.2）The mode of median filtering is taken to carry out image preprocessing, using smaller with the gray value difference of surrounding pixel point
Value replaces the value of the pixel big with surrounding difference comparsion.
The step 3）In the data frame of laser radar is sampled, the setting of sample frequency need to meet following principle：
3.1）Whole laser data points that each laser radar itself run-down obtains are a frame, due to laser radar scanning
Frequency is higher, it is therefore desirable to and sample frequency is set, is once sampled at interval of data of a period of time to laser radar, so as to
Subsequent algorithm processing；
3.2）Sample frequency is determined according to the time response of raindrop in rainy environment, makes the same pixel in the image of two continuous frames
Point cannot be interfered by lower raindrop simultaneously.
A kind of experimental provision for simulating the environment that rains, enables the above method to be verified, including rubber tube, laser thunder
Up to bracket, water water tank, plug, rain-proof lower stop piece, laser radar, rain-proof upper stop piece, the rubber tube is mounted on water water tank
Top, the external water flow controller of rubber tube injects the controllable uniform flow of flow velocity, institute by water flow controller into rubber tube
It states and is uniformly punched on rubber tube, water flow is by the downward water clock of uniform bore on rubber tube, to form rainfall, the adjustable mould of rain speed
Quasi- rainy environment；The rain-proof lower stop piece is fixed on the bottom of water water tank, and the laser radar is solid by laser radar bracket
It is scheduled on rain-proof lower stop piece, the rain-proof upper stop piece is connected with rain-proof lower stop piece by hex bolts, to make laser radar position
In the lower section of rain-proof upper stop piece；The bottom of the water water tank is equipped with water outlet, is additionally provided with plug on water outlet.
The water flow controller is any device that stationary flow flow velocity is capable of providing with feedback control.
The rain-proof lower stop piece and rain-proof upper stop piece can prevent water flow from splashing into laser radar, but not block laser thunder
The normal scan range reached, wherein the installation site of hex bolts should be within the minimum ranging range of laser radar, or
By prior location position to be removed in laser radar data, normal spy of the hex bolts to laser radar in such cases
Survey does not influence too much.
The shell of the water water tank is that nontransparent material or its surface are evenly coated with color, so that laser radar can be visited
It measures, and keeps reflected intensity of the laser radar in same detection range identical.
When working condition, to the water flow for passing to fixed flow rate in rubber hose, simulation is generated around laser radar and is rained
Environment.Bilevel rain-proof baffle can prevent water-drop sputtering from entering laser radar, and water droplet falls into water water tank, water tank bottom
Portion is equipped with plug, can pour out water after the test.The maximum range of laser radar is tank shell, belongs to static ring
Border, the raindrop that rain simulation device generates can generate interference to laser data.To the data of the laser radar containing noise spot into
Row samples and converts image for laser data according to the distance of measurement and laser data intensity, after filtering, using successive frame
Comparison algorithm carries out the rejecting of rainy noise spot
As a kind of type selecting mode, the tank shell is drum type structure, using acrylic board material, in laser radar detection
Reflecting coating is coated in height, to enhance the reflected intensity of laser point.
As a kind of mounting means, using the laser radar of 360 ° of scanning of omnidirectional, but and it is not installed at tank center.
Compared with prior art, the present invention has the advantages that following substantive distinguishing features outstanding and significant：
Laser radar data anti-interference processing method under a kind of rainy environment of the present invention, by simulating the environment that rains, to two dimension
Laser radar processing method of data under the environment that rains provides a solution, can promote the use of outer scene change
Change the location navigation to rain under environment outside little robot chamber.Apparatus of the present invention are provided with the rainy static ring of simulation
Border, demonstrates that can to effectively eliminate laser data under static environment by this method dry due to caused by the reflection of raindrop and refraction
It disturbs.
Detailed description of the invention
Fig. 1 is the structural schematic diagram for the experimental provision that the present invention simulates the environment that rains.
Fig. 2 is that the laser radar single sweep operation in the embodiment of the present invention does not descend raindrop to interfere resulting laser data conversion
For grayscale image.
Fig. 3 is that the laser radar single sweep operation in the embodiment of the present invention has lower raindrop that resulting laser data is interfered to be converted into
Grayscale image.
Specific embodiment
Below in conjunction with attached drawing, embodiment is described in further details the present invention.It is pointed out that implementation as described below
Example is intended to convenient for the understanding of the present invention, and does not play any restriction effect to it.
A kind of laser radar data anti-interference processing method under rainy environment, includes the following steps：
1）Gray level image is converted by the laser initial data containing erroneous point, conversion principle is according to laser radar returned data
Light intensity and distance value by each laser point convert a pixel in image, the gray value of pixel carries out normalizing according to light intensity
Change processing；
2）After the data of two-dimensional laser radar are converted to gray level image, during the error and normalization of laser radar itself
Error is introduced, collected data packet Noise will necessarily be made, therefore the method for taking filtering removes noise and interference；
3）Discrete sampling is carried out to the data of laser radar, using successive frame algorithm to the image containing erroneous point caused by raindrop
It carries out data screening and rejects.
The step 1）It is middle to convert gray level image for laser data, include the following steps：
1.1）The setting of image pixel depends on the data resolution of laser radar in plane, i.e., the position of each laser point is one
A pixel, the position of pixel are the distance for the data that laser radar returns；
1.2）The gray value of pixel is the normalization for the laser intensity that laser radar returns.
The step 2）The process of middle filtering comprises the steps of：
2.1）Image is handled using histogram equalization method, make the performance of gray scale being distributed on image histogram by
Intensively become uniformly, so that image overall contrast effect be made to enhance；
2.2）The mode of median filtering is taken to carry out image preprocessing, using smaller with the gray value difference of surrounding pixel point
Value replaces the value of the pixel big with surrounding difference comparsion.
The frequency of laser radar itself scanning is 7Hz, is analyzed by the time response fallen to raindrop, we know to work as rain
One timing of falling speed is dripped, the frequency that laser data is interfered is lower than the frequency of laser radar itself.The step 3）In it is right
The data frame of laser radar is sampled, and the setting of sample frequency need to meet following principle：
3.1）Whole laser data points that each laser radar itself run-down obtains are a frame, due to laser radar scanning
Frequency is higher, it is therefore desirable to and sample frequency is set, is once sampled at interval of data of a period of time to laser radar, so as to
Subsequent algorithm processing；
3.2）Sample frequency is determined according to the time response of raindrop in rainy environment, makes the same pixel in the image of two continuous frames
Point cannot be interfered by lower raindrop simultaneously.
Using document：Xiaopeng Zhang, Hao Li, Ying Qi, etal. Rain Removal in Video
by Combining Temporal and Chromatic Properties[C]. IEEE International
Conference on Digital Object Identifier, 2006:461-464P. the following method of middle record：
Equipped with the continuous video image of 3 frames, respectively the n-th 1 frame, n-th frame and the n-th+1 frames, each pixel of each frame
Gray value is respectivelyI n-1 、I n WithI n+1 ；Assuming that the same pixel in the video image of continuous 2 frame cannot be covered by sleet simultaneously
Lid then has the gray value of the n-th 1 frames and the n-th+1 frame equal, i.e.,
I
n-1 =
I
n+1
So, in n-th frame, the changes delta I of gray value caused by sleet centainly meets formula：
ΔI =I
n
- I
n-1
= I
n
- I
n+1 =
c
ΔIFor positive value, threshold valuecIt is a positive number.It takesc=1~3Between value, when above formula is set up, then can detect that thenQuilt in frame
The pixel of rain interference.
As shown in Figure 1, a kind of experimental provision for simulating the environment that rains, enables the above method to be verified, including rubber
Sebific duct 1, laser radar bracket 2, water water tank 3, plug 4, rain-proof lower stop piece 5, laser radar 6, rain-proof upper stop piece 7, the rubber
Sebific duct 1 is mounted on the top of water water tank 3, and the external water flow controller of rubber tube 1 is infused by water flow controller into rubber tube 1
Entering the controllable uniform flow of flow velocity, is uniformly punched on the rubber tube 1, water flow passes through the downward water clock of uniform bore on rubber tube 1,
To be formed, rainfall, rain speed are adjustable to simulate the environment that rains；The rain-proof lower stop piece 5 is fixed on the bottom of water water tank 3, described
Laser radar 6 is fixed on rain-proof lower stop piece 5 by laser radar bracket 2, and the rain-proof upper stop piece 7 and rain-proof lower stop piece 5 are logical
It crosses hex bolts to be connected, so that laser radar 6 be made to be located at the lower section of rain-proof upper stop piece 7；The bottom of the water water tank 3 is equipped with
The mouth of a river is additionally provided with plug 4 on water outlet.
The water flow controller is any device that stationary flow flow velocity is capable of providing with feedback control, such as valve, pressure
Power pump etc..
The rain-proof lower stop piece 5 and rain-proof upper stop piece 7 can prevent water flow from splashing into laser radar 6, but not block sharp
The normal scan range of optical radar 6, wherein the installation site of hex bolts should be in laser radar 6 minimum ranging range it
It is interior, or by prior location position to remove in 6 data of laser radar, hex bolts is to laser radar in such cases
6 normal detection does not influence too much.
The shell of the water water tank 3 is that nontransparent material or its surface are evenly coated with color, so that laser radar 6 can
It detects, and keeps reflected intensity of the laser radar 6 in same detection range identical.
The scanning range of laser radar 6 is the plane being parallel to the horizontal plane, and obtains plane information, and maximum range is to deposit
3 shell of water tank.In the present embodiment, the RPLidar A1 two-dimensional laser radar of Shanghai Si Lan scientific & technical corporation, the laser thunder are selected
The frequency reached is 7Hz, maximum measure distance range 5m.Laser radar is communicated by 12V power supply power supply, and by USB line with PC transmission
Data.
The information of the laser radar 6 output includes angle, distance and intensity signal.3 shell of water water tank is that its maximum is visited
Survey range.When not starting rainy device, the data of laser acquisition are evenly distributed on maximum probe edge.Take laser radar 6
Position is picture centre, establishes gray level image：The position of each pixel is exactly the position of 6 data point of laser radar, gray value
For value of the light intensity after normalization.The size of each pixel depends on the data resolution of laser radar 6.When laser acquisition model
Except enclosing, that is, the position being blocked is believed that gray value is maximum value 255, and the point on laser optical path is believed that gray value is 0.Root
It is as shown in Figure 2 can to obtain the grayscale image for not descending raindrop that resulting laser data is interfered to be converted into for principle accordingly.
When the experimental provision for the environment that rains is simulated in starting, the data of laser acquisition are reflected by raindrop or reflect and generate
Interference.Likewise, taking 6 position of laser radar is picture centre, gray level image is established：The position of each pixel is exactly laser thunder
Up to the position of 6 data points, gray value is value of the light intensity after normalization.At this time due to there is raindrop to generate reflection to laser data
And refraction, 3 marginal position of part water water tank cannot be detected completely, while variation also occurs in the light intensity value after reflection.
By the way that gray value is normalized and assigned to light intensity, the gray scale that lower raindrop interferes resulting laser data to be converted into can be obtained
Figure is as shown in Figure 3.
To simulate rain environment in laser radar 6 data carry out sampling and according to the distance and laser data of measurement it is strong
Laser data is converted image by degree, and after filtering, the rejecting of rainy noise spot is carried out using successive frame comparison algorithm.
In the present embodiment, term " laser radar " and " two-dimensional laser radar " are used interchangeably, and refer to common scanning range
For the Laser Distance Measuring Equipment of two-dimensional surface, the information read from the equipment is planar point, comprising angle and distance information and is swashed
The strength information of luminous point.
In the present embodiment, the laser data that laser radar scanning once obtains is initial data, one obtained through over-sampling
Secondary scanning is one " data frame ", should include the total data that two-dimensional laser radar once completely scans in " frame data ".
In the present embodiment, term " filtering " " noise reduction " " removal noise " be may be used interchangeably, and refer to elimination laser radar data
Error method or process.
Claims (8)
1. the laser radar data anti-interference processing method under a kind of rainy environment, which is characterized in that include the following steps：
1）Gray level image is converted by the laser initial data containing erroneous point, conversion principle is according to laser radar returned data
Light intensity and distance value by each laser point convert a pixel in image, the gray value of pixel carries out normalizing according to light intensity
Change processing；
2）After the data of two-dimensional laser radar are converted to gray level image, during the error and normalization of laser radar itself
Error is introduced, collected data packet Noise will necessarily be made, therefore the method for taking filtering removes noise and interference；
3）Discrete sampling is carried out to the data of laser radar, using successive frame algorithm to the image containing erroneous point caused by raindrop
It carries out data screening and rejects.
2. the laser radar data anti-interference processing method under rainy environment according to claim 1, which is characterized in that institute
State step 1）It is middle to convert gray level image for laser data, include the following steps：
1.1）The setting of image pixel depends on the data resolution of laser radar in plane, i.e., the position of each laser point is one
A pixel, the position of pixel are the distance for the data that laser radar returns；
1.2）The gray value of pixel is the normalization for the laser intensity that laser radar returns.
3. the laser radar data anti-interference processing method under rainy environment according to claim 1, which is characterized in that institute
State step 2）The process of middle filtering comprises the steps of：
2.1）Image is handled using histogram equalization method, make the performance of gray scale being distributed on image histogram by
Intensively become uniformly, so that image overall contrast effect be made to enhance；
2.2）The mode of median filtering is taken to carry out image preprocessing, using smaller with the gray value difference of surrounding pixel point
Value replaces the value of the pixel big with surrounding difference comparsion.
4. the laser radar data anti-interference processing method under rainy environment according to claim 1, which is characterized in that institute
State step 3）In the data frame of laser radar is sampled, the setting of sample frequency need to meet following principle：
3.1）Whole laser data points that each laser radar itself run-down obtains are a frame, due to laser radar scanning
Frequency is higher, it is therefore desirable to and sample frequency is set, is once sampled at interval of data of a period of time to laser radar, so as to
Subsequent algorithm processing；
3.2）Sample frequency is determined according to the time response of raindrop in rainy environment, makes the same pixel in the image of two continuous frames
Point cannot be interfered by lower raindrop simultaneously.
5. a kind of experimental provision for simulating the environment that rains, enables the above method to be verified, which is characterized in that including rubber
Pipe（1）, laser radar bracket（2）, water water tank（3）, plug（4）, rain-proof lower stop piece（5）, laser radar（6）, keep off in rain-proof
Piece（7）, the rubber tube（1）It is mounted on water water tank（3）Top, rubber tube（1）External water flow controller passes through water flow control
Device processed is to rubber tube（1）The controllable uniform flow of interior injection flow velocity, the rubber tube（1）Upper uniformly punching, water flow pass through rubber
Pipe（1）On the downward water clock of uniform bore, thus formed rainfall, rain speed it is adjustable simulate rain environment；The rain-proof lower stop piece（5）
It is fixed on water water tank（3）Bottom, the laser radar（6）Pass through laser radar bracket（2）It is fixed on rain-proof lower stop piece（5）
On, the rain-proof upper stop piece（7）With rain-proof lower stop piece（5）It is connected by hex bolts, to make laser radar（6）Positioned at rain-proof
Upper stop piece（7）Lower section；The water water tank（3）Bottom be equipped with water outlet, be additionally provided with plug on water outlet（4）.
6. the experimental provision according to claim 5 for simulating the environment that rains, which is characterized in that the water flow controller is to appoint
Meaning is capable of providing the device of stationary flow flow velocity with feedback control.
7. the experimental provision according to claim 5 for simulating the environment that rains, which is characterized in that the rain-proof lower stop piece（5）
With rain-proof upper stop piece（7）It can prevent water flow from splashing and enter laser radar（6）, but do not block laser radar（6）Normal scan
Range, wherein the installation site of hex bolts should be in laser radar（6）Minimum ranging range within, or by prior
Location position is in laser radar（6）It is removed in data, hex bolts is to laser radar in such cases（6）It is normal detection not
It influences too much.
8. the experimental provision according to claim 5 for simulating the environment that rains, which is characterized in that the water water tank（3）'s
Shell is that nontransparent material or its surface are evenly coated with color, so as to laser radar（6）It can detect, and keep laser radar
（6）Reflected intensity in same detection range is identical.
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| CN111766570A (en) * | 2020-07-07 | 2020-10-13 | 山东大学 | System and method for testing working performance of laser radar in extreme environment |
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