CN108898139B - Laser radar data anti-interference processing method in rainy environment and experimental device thereof - Google Patents
Laser radar data anti-interference processing method in rainy environment and experimental device thereof Download PDFInfo
- Publication number
- CN108898139B CN108898139B CN201810562049.4A CN201810562049A CN108898139B CN 108898139 B CN108898139 B CN 108898139B CN 201810562049 A CN201810562049 A CN 201810562049A CN 108898139 B CN108898139 B CN 108898139B
- Authority
- CN
- China
- Prior art keywords
- laser radar
- rain
- data
- laser
- proof
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- 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
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Multimedia (AREA)
- Business, Economics & Management (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention provides an anti-interference processing method of laser radar data in a rainy environment and an experimental device thereof. The device comprises a rubber pipe, a laser radar support, a water storage tank, a plug, a rain-proof catch, a laser radar and a rain-proof catch. The method comprises the steps of sampling data of a laser radar in a simulated rainfall environment, converting the laser data into an image according to the measured distance and the laser data intensity, and removing rainfall interference points by adopting a continuous frame comparison algorithm after filtering. The invention provides a solution for the processing method of the two-dimensional laser radar data in the rainy environment, and can be popularized and applied to positioning and navigation of the robot in the outdoor rainy environment with little change of the external scene.
Description
Technical Field
The invention relates to the technical field of laser scanning, in particular to a laser radar data anti-interference processing method and an experimental device thereof in a rainy environment.
Background
Positioning and navigation technology is a key technology of a mobile robot. Depending on the sensor used, a distinction can be made between laser sensor-based positioning navigation and visual sensor-based positioning navigation. The method based on the visual sensor is characterized in that a camera is used for sensing the environment, and compared with the visual sensor, the laser radar is high in anti-jamming capability and accurate in information, so that the method based on the environmental sensing of the laser sensor is widely applied to mobile robot navigation. The laser-based positioning navigation is a process that a mobile robot acquires information of a carried laser radar and determines road marking points in the environment and the position of the robot in the environment through processing and analyzing sensor information, so that functions of constructing an environment map, planning a path, autonomously moving, avoiding obstacles and the like are realized.
The robot environmental perception under the rainy condition is usually based on the environmental perception of a vision sensor at present, and the main reason is that the data of the robot environmental perception is interfered by the reflection and refraction of raindrops to generate errors in the outdoor rainy environment because a laser radar adopts an infrared laser ranging method. This vision-based approach removes raindrops in the environment as dynamic disturbances. The problem cannot be solved completely and effectively by the method because the vision sensor is easily interfered by the change of the ambient light and has limited precision. In order to fully utilize the characteristics of high ranging precision and high stability of the laser sensor, the research significance of the anti-interference algorithm of the laser radar data in the rainy environment is important.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a laser radar data anti-interference processing method and an experimental device thereof in a rainy environment. The device can effectively simulate the rain environment, and the processing method can eliminate error points aiming at the laser data in the environment.
In order to achieve the purpose, the invention adopts the following technical scheme:
a laser radar data anti-interference processing method in a rainy environment comprises the following steps:
1) Converting laser original data containing error points into a gray level image, wherein the conversion principle is that each laser point is converted into a pixel in the image according to the light intensity and the distance value of the data returned by the laser radar, and the gray level value of the pixel is normalized according to the light intensity;
2) after the data of the two-dimensional laser radar is converted into a gray level image, the acquired data inevitably contains noise due to the error of the laser radar and the error introduced in the normalization process, so that the noise and the interference are removed by adopting a filtering method;
3) and carrying out discrete sampling on the data of the laser radar, and screening and eliminating the data of the image containing the error points caused by raindrops by adopting a continuous frame algorithm.
The step 1) of converting the laser data into the gray level image comprises the following steps:
1.1) the arrangement of the image pixels in the plane depends on the data resolution of the laser radar, namely the position of each laser point is a pixel point, and the position of the pixel point is the distance of data returned by the laser radar;
1.2) the gray value of the pixel point is the normalization of the laser intensity returned by the laser radar.
The filtering process in the step 2) comprises the following steps:
2.1) processing the image by adopting a histogram equalization method to ensure that the expression of the gray distribution on the image histogram is changed from dense to uniform, thereby enhancing the overall contrast effect of the image;
2.2) image preprocessing is carried out by adopting a median filtering mode, and the value of the pixel point with larger difference value with the surrounding pixel point is replaced by the value with smaller difference value with the gray value of the surrounding pixel point.
In the step 3), the data frame of the laser radar is sampled, and the sampling frequency is set to meet the following principle:
3.1) all laser data points acquired by the laser radar scanning once per time are a frame, and because the scanning frequency of the laser radar is higher, the sampling frequency needs to be set, and the data of the laser radar is sampled once at intervals so as to facilitate the subsequent algorithm processing;
3.2) determining the sampling frequency according to the time characteristic of a raindrop in a raining environment, so that the same pixel point in the images of two continuous frames cannot be simultaneously interfered by the raindrop.
An experimental device for simulating a rain environment can verify the method, and comprises a rubber pipe, a laser radar support, a water storage tank, a plug, a rain-proof blocking piece, a laser radar and a rain-proof upper blocking piece, wherein the rubber pipe is arranged at the top of the water storage tank, the rubber pipe is externally connected with a water flow controller, uniform water flow with controllable flow velocity is injected into the rubber pipe through the water flow controller, holes are uniformly drilled on the rubber pipe, and the water flow drips and leaks downwards through the uniform holes in the rubber pipe, so that the rainfall and rain speed adjustable simulated rain environment is formed; the rain-proof lower blocking piece is fixed at the bottom of the water storage tank, the laser radar is fixed on the rain-proof lower blocking piece through a laser radar support, and the rain-proof upper blocking piece is connected with the rain-proof lower blocking piece through a hexagon bolt, so that the laser radar is positioned below the rain-proof upper blocking piece; the bottom of the water storage tank is provided with a water outlet, and a plug is further arranged on the water outlet.
The water flow controller is any device which can provide stable water flow speed by feedback control.
The rain-proof lower blocking piece and the rain-proof upper blocking piece can prevent water flow from splashing to enter the laser radar, but the normal scanning range of the laser radar is not blocked, wherein the installation position of the hexagon bolt is required to be within the minimum ranging range of the laser radar, or the hexagon bolt is calibrated to be removed in the laser radar data through the advance position, and the hexagon bolt does not cause too large influence on the normal detection of the laser radar under the condition.
The shell of the water storage tank is made of non-transparent materials or the surface of the water storage tank is uniformly coated with colors, so that the laser radar can detect the water storage tank and the reflection intensity of the laser radar in the same detection distance is kept the same.
When the laser radar works, water flow with fixed flow speed is introduced into the rubber hose, and a simulated rainy environment is generated around the laser radar. Upper and lower two-layer rain-proof separation blade can prevent that the water droplet from splashing and getting into laser radar, and the water droplet falls into and deposits the water tank, and the water tank bottom is equipped with the stopper, can pour out after the experiment and deposit water. The maximum detection range of the laser radar is the water tank shell, the laser radar belongs to a static environment, and raindrops generated by a rainfall simulation device can interfere with laser data. Sampling data of a laser radar containing interference points, converting the laser data into images according to the measured distance and the laser data intensity, and after filtering, adopting a continuous frame comparison algorithm to eliminate raining interference points
As a model selection mode, the water tank shell is of a cylindrical structure, an acrylic plate material is adopted, and a reflective coating is coated on the detection height of the laser radar so as to enhance the reflection intensity of a laser spot.
As an installation method, a laser radar which scans 360 degrees in all directions is adopted, but the laser radar is not installed in the center of the water tank.
Compared with the prior art, the invention has the following prominent substantive characteristics and obvious advantages:
the invention provides a solution for a method for processing data of a two-dimensional laser radar in a rainy environment by simulating the rainy environment, and can be popularized and applied to positioning and navigation of a robot in an outdoor rainy environment with little change of external scenes. The device provided by the invention is provided with a rainfall simulation static environment, and the method is verified to be capable of effectively eliminating the interference of laser data in the static environment caused by the reflection and refraction of raindrops.
Drawings
FIG. 1 is a schematic structural diagram of an experimental device for simulating a raining environment according to the present invention.
Fig. 2 is a grayscale chart of laser data converted from a single scan of the lidar without rain spot interference in an embodiment of the invention.
Fig. 3 is a grayscale chart of laser data converted from a single scan of a lidar with raindrop interference in an embodiment of the invention.
Detailed Description
The present invention will be described in further detail with reference to the following examples, which are provided in conjunction with the accompanying drawings. It is to be noted that the following examples are intended to facilitate the understanding of the present invention, and do not set forth any limitation thereto.
A laser radar data anti-interference processing method in a rainy environment comprises the following steps:
1) converting laser original data containing error points into a gray level image, wherein the conversion principle is that each laser point is converted into a pixel in the image according to the light intensity and the distance value of the data returned by the laser radar, and the gray level value of the pixel is normalized according to the light intensity;
2) after the data of the two-dimensional laser radar is converted into a gray level image, the acquired data inevitably contains noise due to the error of the laser radar and the error introduced in the normalization process, so that the noise and the interference are removed by adopting a filtering method;
3) and carrying out discrete sampling on the data of the laser radar, and screening and eliminating the data of the image containing the error points caused by raindrops by adopting a continuous frame algorithm.
The step 1) of converting the laser data into the gray level image comprises the following steps:
1.1) the arrangement of the image pixels in the plane depends on the data resolution of the laser radar, namely the position of each laser point is a pixel point, and the position of the pixel point is the distance of data returned by the laser radar;
1.2) the gray value of the pixel point is the normalization of the laser intensity returned by the laser radar.
The filtering process in the step 2) comprises the following steps:
2.1) processing the image by adopting a histogram equalization method to ensure that the expression of the gray distribution on the image histogram is changed from dense to uniform, thereby enhancing the overall contrast effect of the image;
2.2) image preprocessing is carried out by adopting a median filtering mode, and the value of the pixel point with larger difference value with the surrounding is replaced by the value with smaller difference value with the gray value of the surrounding pixel point.
The frequency of laser radar self scanning is 7Hz, and through analysis of the time characteristic of raindrop falling, the frequency of laser data subjected to interference is lower than the frequency of the laser radar when the raindrop falling speed is fixed. Sampling the data frame of the laser radar in the step 3), wherein the sampling frequency needs to be set according to the following principle:
3.1) all laser data points acquired by the laser radar scanning once per time are a frame, and because the scanning frequency of the laser radar is higher, the sampling frequency needs to be set, and the data of the laser radar is sampled once at intervals so as to facilitate the subsequent algorithm processing;
3.2) determining the sampling frequency according to the time characteristic of a raindrop in a raining environment, so that the same pixel point in the images of two continuous frames cannot be simultaneously interfered by the raindrop.
The method adopts the following steps: the following methods are described in Xiaooping Zhang, Hao Li, Ying Qi, et. Rain Removal in Video by Combining Temporal and chromatographic Properties [ C ]. IEEE International Conference on Digital Object Identifier, 2006: 461-:
setting 3 continuous video images as the (n-1) th frame, the (n + 1) th frame and the (n + 1) th frame, wherein the gray value of each pixel point of each frame isI n-1 、I n AndI n+1 (ii) a If the same pixel point in the video images of 2 continuous frames cannot be covered by rain and snow at the same time, the gray values of the (n-1) th frame and the (n + 1) th frame are equal, that is, the gray values are equal
I
n-1 =
I
n+1
Then, in the nth frame, the change Δ I in the gray scale value due to rain or snow must satisfy the formula:
ΔI =I
n
- I
n-1
= I
n
- I
n+1 =
c
ΔIis a positive value, the threshold valuecIs a positive number. Getc=1~3A value between, when the above formula is satisfied, the first detection result isnAnd (4) pixel points interfered by rain in the frame.
As shown in fig. 1, an experimental device for simulating a rain environment enables the method to be verified, and comprises a rubber tube 1, a laser radar support 2, a water storage tank 3, a plug 4, a rain-proof blocking piece 5, a laser radar 6 and a rain-proof blocking piece 7, wherein the rubber tube 1 is installed at the top of the water storage tank 3, the rubber tube 1 is externally connected with a water flow controller, uniform water flow with controllable flow rate is injected into the rubber tube 1 through the water flow controller, holes are uniformly drilled on the rubber tube 1, and the water flow drips downwards through the uniform holes on the rubber tube 1, so that a simulated rain environment with adjustable rain amount and rain speed is formed; the rain-proof blocking piece 5 is fixed at the bottom of the water storage tank 3, the laser radar 6 is fixed on the rain-proof blocking piece 5 through the laser radar support 2, and the rain-proof upper blocking piece 7 is connected with the rain-proof blocking piece 5 through a hexagon bolt, so that the laser radar 6 is positioned below the rain-proof upper blocking piece 7; the bottom of the water storage tank 3 is provided with a water outlet, and a plug 4 is further arranged on the water outlet.
The water flow controller is any device which can provide stable water flow speed by feedback control, such as a valve, a pressure pump and the like.
The shell of the water storage tank 3 is made of non-transparent materials or the surface of the water storage tank is uniformly coated with colors, so that the laser radar 6 can detect the water storage tank and the reflection intensity of the laser radar 6 in the same detection distance is kept the same.
The scanning range of the laser radar 6 is a plane parallel to the horizontal plane, so that plane information is obtained, and the maximum detection range is the shell of the water storage tank 3. In this embodiment, a two-dimensional laser radar RPLidar a1 manufactured by shanghai sieglan science and technology is selected, the frequency of the laser radar is 7Hz, and the maximum distance measurement range is 5 m. The laser radar is powered by a 12V power supply and transmits communication data with the PC through a USB line.
The information output by the lidar 6 includes angle, distance, and light intensity information. The water storage tank 3 housing is its maximum detection range. When the raining apparatus is not activated, the data of the laser detection is uniformly distributed at the maximum detection edge. Taking the position of the laser radar 6 as an image center, establishing a gray level image: the position of each pixel point is the position of a data point of the laser radar 6, and the gray value is the value of the light intensity after normalization. The size of each pixel depends on the data resolution of the lidar 6. When the laser detection range is out of the range, i.e. the shielded position, the gray value can be considered as the maximum value 255, and the point on the laser light path can be considered as the gray value 0. According to this principle, a gray scale map obtained by converting laser data without raindrop interference can be obtained as shown in fig. 2.
When an experimental device for simulating a rainy environment is started, data detected by laser is interfered by refraction or reflection of raindrops. Similarly, taking the position of the laser radar 6 as an image center, establishing a gray level image: the position of each pixel point is the position of the data point of the laser radar 6, and the gray value is the value of the light intensity after normalization. At the moment, because the rain point reflects and refracts the laser data, the edge position of part of the water storage tank 3 cannot be completely detected, and the light intensity value after reflection also changes. By normalizing the light intensity and assigning gray values, a gray map converted from laser data with raining spot interference can be obtained as shown in fig. 3.
Sampling data of the laser radar 6 in the simulated rainfall environment, converting the laser data into an image according to the measured distance and the laser data intensity, and removing rainfall interference points by adopting a continuous frame comparison algorithm after filtering.
In this embodiment, the terms "laser radar" and "two-dimensional laser radar" are used interchangeably to refer to a common laser ranging device whose scanning range is a two-dimensional plane, and the information read from the device is a plane point, including angle and distance information and intensity information of a laser point.
In this embodiment, laser data obtained by scanning the laser radar once is raw data, and one scanning obtained by sampling is a "data frame", where the "data frame" includes all data of one complete scan of the two-dimensional laser radar.
In this embodiment, the terms "filtering", "noise reduction" and "noise removal" may be used interchangeably to refer to a method or process for eliminating errors in lidar data.
Claims (8)
1. A laser radar data anti-interference processing method in a rainy environment is characterized by comprising the following steps:
1) converting laser original data containing error points into a gray level image, wherein the conversion principle is that each laser point is converted into a pixel in the image according to the light intensity and the distance value of the data returned by the laser radar, and the gray level value of the pixel is normalized according to the light intensity;
2) after the data of the two-dimensional laser radar is converted into a gray level image, the acquired data inevitably contains noise due to the error of the laser radar and the error introduced in the normalization process, so that the noise and the interference are removed by adopting a filtering method;
3) carrying out discrete sampling on data of the laser radar, and carrying out data screening and elimination on images containing error points caused by raindrops by adopting a continuous frame algorithm;
The method for anti-interference processing of the laser radar data in the rainy environment is implemented, and an experimental device for simulating the rainy environment is adopted and comprises a rubber pipe (1), a laser radar support (2), a water storage tank (3), a plug (4), a rain-proof lower baffle (5), a laser radar (6) and a rain-proof upper baffle (7), wherein the rubber pipe (1) is installed at the top of the water storage tank (3), the rubber pipe (1) is externally connected with a water flow controller, uniform water flow with controllable flow velocity is injected into the rubber pipe (1) through the water flow controller, holes are uniformly drilled in the rubber pipe (1), and the water flow drips downwards through the uniform holes in the rubber pipe (1), so that the simulated rainy environment with adjustable rainfall and adjustable rain speed is formed; the rain-proof lower blocking piece (5) is fixed at the bottom of the water storage tank (3), the laser radar (6) is fixed on the rain-proof lower blocking piece (5) through the laser radar support (2), and the rain-proof upper blocking piece (7) is connected with the rain-proof lower blocking piece (5) through a hexagon bolt, so that the laser radar (6) is positioned below the rain-proof upper blocking piece (7); the bottom of the water storage tank (3) is provided with a water outlet, and a plug (4) is further arranged on the water outlet.
2. The laser radar data anti-interference processing method in the rainy environment according to claim 1, wherein the step 1) of converting the laser data into a gray image comprises the following steps:
1.1) the arrangement of the image pixels in the plane depends on the data resolution of the laser radar, namely the position of each laser point is a pixel point, and the position of the pixel point is the distance of data returned by the laser radar;
1.2) the gray value of the pixel point is the normalization of the laser intensity returned by the laser radar.
3. The lidar data anti-interference processing method in the rainy environment according to claim 1, wherein the filtering in the step 2) comprises the following steps:
2.1) processing the image by adopting a histogram equalization method to ensure that the expression of the gray distribution on the image histogram is changed from dense to uniform, thereby enhancing the overall contrast effect of the image;
2.2) image preprocessing is carried out by adopting a median filtering mode, and the value of the pixel point with larger difference value with the surrounding is replaced by the value with smaller difference value with the gray value of the surrounding pixel point.
4. The method for anti-interference processing of lidar data in a rainy environment according to claim 1, wherein in the step 3), a data frame of the lidar is sampled, and a sampling frequency is set to satisfy the following principle:
3.1) all laser data points acquired by the laser radar scanning once per time are a frame, and because the scanning frequency of the laser radar is higher, the sampling frequency needs to be set, and the data of the laser radar is sampled once at intervals so as to facilitate the subsequent algorithm processing;
3.2) determining the sampling frequency according to the time characteristic of a raindrop in a raining environment, so that the same pixel point in the images of two continuous frames cannot be interfered by the raindrop at the same time.
5. An experimental device for simulating a rain environment enables the method to be verified, and is characterized by comprising a rubber tube (1), a laser radar support (2), a water storage tank (3), a plug (4), a rain-proof lower baffle (5), a laser radar (6) and a rain-proof upper baffle (7), wherein the rubber tube (1) is installed at the top of the water storage tank (3), the rubber tube (1) is externally connected with a water flow controller, uniform water flow with controllable flow rate is injected into the rubber tube (1) through the water flow controller, holes are uniformly drilled on the rubber tube (1), and the water flow drips downwards through the uniform holes in the rubber tube (1), so that the simulated rain environment with adjustable rain amount and rain speed is formed; the rain-proof lower blocking piece (5) is fixed at the bottom of the water storage tank (3), the laser radar (6) is fixed on the rain-proof lower blocking piece (5) through the laser radar support (2), and the rain-proof upper blocking piece (7) is connected with the rain-proof lower blocking piece (5) through a hexagon bolt, so that the laser radar (6) is positioned below the rain-proof upper blocking piece (7); the bottom of the water storage tank (3) is provided with a water outlet, and a plug (4) is further arranged on the water outlet.
6. A test rig for simulating a raining environment according to claim 5, wherein the flow controller is any device capable of providing a steady flow rate of water with feedback control.
7. The experimental device for simulating the rainy environment according to claim 5, wherein the rain-proof blocking sheet (5) and the rain-proof blocking sheet (7) can prevent water flow from splashing into the laser radar (6) without blocking the normal scanning range of the laser radar (6), and the installation position of the hexagon bolt is within the minimum distance measurement range of the laser radar (6) or is calibrated by a previous position to be removed in the data of the laser radar (6), in which case the hexagon bolt does not have great influence on the normal detection of the laser radar (6).
8. A rainfall environment simulation experiment device according to claim 5, wherein the housing of the water storage tank (3) is made of non-transparent material or the surface of the water storage tank is uniformly coated with color so that the laser radar (6) can detect the rainfall environment and the reflection intensity of the laser radar (6) in the same detection distance is kept the same.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810562049.4A CN108898139B (en) | 2018-06-04 | 2018-06-04 | Laser radar data anti-interference processing method in rainy environment and experimental device thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810562049.4A CN108898139B (en) | 2018-06-04 | 2018-06-04 | Laser radar data anti-interference processing method in rainy environment and experimental device thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108898139A CN108898139A (en) | 2018-11-27 |
| CN108898139B true CN108898139B (en) | 2022-06-10 |
Family
ID=64344037
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810562049.4A Active CN108898139B (en) | 2018-06-04 | 2018-06-04 | Laser radar data anti-interference processing method in rainy environment and experimental device thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108898139B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112639516B (en) * | 2019-12-10 | 2023-08-04 | 深圳市速腾聚创科技有限公司 | Laser radar ranging method, laser radar ranging device, computer equipment and storage medium |
| CN113359093B (en) * | 2020-03-05 | 2023-07-18 | 华为技术有限公司 | Radar testing method and device |
| CN111766570B (en) * | 2020-07-07 | 2023-05-09 | 山东大学 | System and method for testing working performance of laser radar in extreme environment |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105488763A (en) * | 2015-10-30 | 2016-04-13 | 北京理工大学 | Image enhancement method suitable for underwater laser range gating image |
| CN107392864A (en) * | 2017-07-01 | 2017-11-24 | 南京理工大学 | A kind of mixed noise filtering method for removing Gaussian noise and impulsive noise |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106842231B (en) * | 2016-11-08 | 2019-03-22 | 长安大学 | A kind of road edge identification and tracking |
| CN106500963B (en) * | 2016-11-25 | 2018-08-17 | 常州工学院 | Inlet for stom water conveyance capacity test device and its check method based on DPIV technologies |
| CN106706254A (en) * | 2017-03-21 | 2017-05-24 | 哈尔滨工程大学 | Underwater explosion shock wave equivalent loading experimental device |
| CN107907296A (en) * | 2017-10-27 | 2018-04-13 | 清华大学 | The water tunnel experiment more field synchronization measuring systems of unsteady cavitation flow induced vibration |
-
2018
- 2018-06-04 CN CN201810562049.4A patent/CN108898139B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105488763A (en) * | 2015-10-30 | 2016-04-13 | 北京理工大学 | Image enhancement method suitable for underwater laser range gating image |
| CN107392864A (en) * | 2017-07-01 | 2017-11-24 | 南京理工大学 | A kind of mixed noise filtering method for removing Gaussian noise and impulsive noise |
Non-Patent Citations (3)
| Title |
|---|
| "基于双光楔激光雷达的地面目标识别方法研究";杨文秀;《中国优秀硕士学位论文全文数据库 信息科技辑》;20170615(第06期);第11，17，27，33-34，48页 * |
| "基于四线激光雷达的道路信息提取技术研究";李龙杰;《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》;20170315(第03期);第20，30页 * |
| 杨文秀."基于双光楔激光雷达的地面目标识别方法研究".《中国优秀硕士学位论文全文数据库 信息科技辑》.2017,(第06期), * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108898139A (en) | 2018-11-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Jiang et al. | Real‐time crack assessment using deep neural networks with wall‐climbing unmanned aerial system | |
| CN108898139B (en) | Laser radar data anti-interference processing method in rainy environment and experimental device thereof | |
| CN101281142B (en) | Method for measuring atmosphere visibility | |
| CN105373135B (en) | A kind of method and system of aircraft docking guidance and plane type recognition based on machine vision | |
| CN110766979A (en) | Parking space detection method for automatic driving vehicle | |
| CN111179334A (en) | Sea surface small-area oil spilling area detection system and detection method based on multi-sensor fusion | |
| CN103808723A (en) | Exhaust gas blackness automatic detection device for diesel vehicles | |
| CN107356933A (en) | A kind of unstructured road detection method based on four line laser radars | |
| CN114419825A (en) | High-speed rail perimeter intrusion monitoring device and method based on millimeter wave radar and camera | |
| CN109633680A (en) | Four step closed loop atmosphere pollution traceability systems and method based on laser radar | |
| CN109178234B (en) | Ship freeboard height measuring system and measuring method thereof | |
| CN110514133A (en) | It is a kind of based on photogrammetric unmanned plane tunnel deformation detection method | |
| CN113869196B (en) | Vehicle type classification method and device based on laser point cloud data multi-feature analysis | |
| Cheng et al. | Automatic detection of shield tunnel leakages based on terrestrial mobile LiDAR intensity images using deep learning | |
| CN106950574A (en) | The remote sensing measuring method and device of gray haze total amount in a kind of air | |
| Guo et al. | Detecting and positioning of wind turbine blade tips for uav-based automatic inspection | |
| CN109765931B (en) | Near-infrared video automatic navigation method suitable for breakwater inspection unmanned aerial vehicle | |
| CN209560085U (en) | The four step closed loop atmosphere pollution traceability systems based on laser radar | |
| CN105335985B (en) | A kind of real-time capturing method and system of docking aircraft based on machine vision | |
| Liu et al. | Manhole cover detection from natural scene based on imaging environment perception | |
| CN113048953A (en) | Unmanned plane and method for monitoring water level, flow velocity and flow | |
| CN112883969A (en) | Rainfall intensity detection method based on convolutional neural network | |
| Laureshyn et al. | Automated video analysis as a tool for analysing road user behaviour | |
| CN104010165A (en) | Automatic collecting device for precipitation particle shadow image | |
| CN204302152U (en) | A kind of original position measures the device of suspended load concentration and grating in real time |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |