CN109584183A - A kind of laser radar point cloud goes distortion method and system - Google Patents
A kind of laser radar point cloud goes distortion method and system Download PDFInfo
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Abstract
The invention discloses a kind of laser radar point clouds to go distortion method and system.The method obtains the point cloud information of a frame point cloud data of laser radar acquisition first；The point cloud information includes coordinate of each point under bodywork reference frame in the frame point cloud data, the speed of the frame head moment course angle of the frame point cloud data, postamble moment course angle and the laser radar equipped vehicle；Then the rotation translation transformation matrix for going distortion process is determined according to the point cloud information；The point cloud data is converted into earth coordinates from bodywork reference frame according to the rotation translation transformation matrix, obtains the point cloud data under earth coordinates；The point cloud data under the earth coordinates is finally switched back into bodywork reference frame, obtains the point cloud data after going distortion.Laser radar point cloud provided by the invention goes distortion method smaller relative to conventional method calculation amount, and real-time is stronger, and stability is higher, is particularly suitable for the automatic driving vehicle run at a low speed.
Description
Technical field
The present invention relates to automobiles and technical field of environmental perception, go distortion method more particularly to a kind of laser radar point cloud
And system.
Background technique
So-called " intelligent vehicle ", exactly increased on the basis of common vehicle advanced sensor (radar, camera),
The devices such as controller, actuator, the ability for making vehicle have perception ambient enviroment.But laser radar is in rotating acquisition ambient enviroment
Point cloud information when, due to unmanned vehicle be in the moment movement state so that in unmanned vehicle traveling process each frame point cloud frame
There are one section of amounts of exercise between head and postamble, that is to say, that and the laser point in a frame is not to be in the same local coordinate system,
This inevitably results in the distortion and distortion of a cloud.It is the feature extracted in two frame data of front and back that tradition, which goes distortion method,
Perhaps characteristic face by calculating characteristic curve between two frames or the mobile distance of characteristic face obtains interframe movement amount to line, however,
This method, which is extracted accuracy by characteristic curve and characteristic face, to be influenced, and has the shortcomings that unstable result, and due to needs time
All the points in a cloud are gone through, calculation amount is very big, and the requirement of real-time is not achieved sometimes.
Summary of the invention
The object of the present invention is to provide a kind of laser radar point clouds to go distortion method and system, goes distortion result to improve
Stability and real-time, while reducing and going distortion process calculation amount.
To achieve the above object, the present invention provides following schemes:
A kind of laser radar point cloud goes distortion method, which comprises
Obtain the point cloud information of a frame point cloud data of laser radar acquisition；The point cloud information includes the frame point cloud
Coordinate of each point under bodywork reference frame in data, the frame head moment course angle of the frame point cloud data, postamble moment
The speed of course angle and the laser radar equipped vehicle；
The rotation translation transformation matrix for going distortion process is determined according to the point cloud information；
The point cloud data is converted into earth coordinates from bodywork reference frame according to the rotation translation transformation matrix, is obtained
Obtain the point cloud data under earth coordinates；
Point cloud data under the earth coordinates is switched back into bodywork reference frame, obtains the point cloud data after going distortion.
Optionally, described that the rotation translation transformation matrix for going distortion process is determined according to the point cloud information, it specifically includes:
The laser radar equipped vehicle is determined according to the frame head moment course angle and the postamble moment course angle
Approximate course angle；
According to the approximate course angle, the frame head moment course angle, the postamble moment course angle and the speed
Determine the rotation translation transformation matrix.
Optionally, it is described according to the approximate course angle, the frame head moment course angle, the postamble moment course angle with
And the speed determines the rotation translation transformation matrix, specifically includes:
According to the approximate course angle, the frame head moment course angle, the postamble moment course angle and the speed
Determine the rotation translation transformation matrixWherein GuIt translates and becomes for the rotation
Change matrix；αiCourse angle when for i-th in the frame point cloud data；V is the speed of the laser radar equipped vehicle；T
For the collection period of laser radar；D is the angular resolution of laser radar；β is the approximate course angle.
Optionally, described to be converted into the point cloud data greatly from bodywork reference frame according to the rotation translation transformation matrix
Ground coordinate system obtains the point cloud data under earth coordinates, specifically includes:
Transformation is moved to i-th point of progress rotary flat in the frame point cloud data according to the rotation translation transformation matrix,
By i-th point transformation under bodywork reference frame to i-th point under earth coordinates.
Optionally, the point cloud data by under the earth coordinates switches back to bodywork reference frame, after distortion is gone in acquisition
Point cloud data, specifically include:
Frame head moment rotational transformation matrix is determined according to the frame head moment course angle；
According to the frame head moment rotational transformation matrix by the i-th point transformation carriage return body coordinate under the earth coordinates
System obtains i-th point cloud data after going distortion.
A kind of laser radar point cloud removes distortion system, the system comprises:
Point cloud information obtains module, the point cloud information of the frame point cloud data for obtaining laser radar acquisition；The point
Cloud information includes coordinate of each point under bodywork reference frame in the frame point cloud data, the frame of the frame point cloud data
The speed of head moment course angle, postamble moment course angle and the laser radar equipped vehicle；
Translation transformation matrix determining module is rotated, for going the rotation of distortion process to translate according to point cloud information determination
Transformation matrix；
First coordinate system transformation module, for being sat the point cloud data from car body according to the rotation translation transformation matrix
Mark system is converted into earth coordinates, obtains the point cloud data under earth coordinates；
Second coordinate system transformation module, for the point cloud data under the earth coordinates to be switched back to bodywork reference frame,
Obtain the point cloud data after going distortion.
Optionally, the rotation translation transformation matrix determining module specifically includes:
Approximate course angle determination unit, for being determined according to the frame head moment course angle and the postamble moment course angle
The approximate course angle of the laser radar equipped vehicle；
Translation transformation matrix determination unit is rotated, for according to the approximate course angle, the frame head moment course angle, institute
It states postamble moment course angle and the speed determines the rotation translation transformation matrix.
Optionally, the rotation translation transformation matrix determination unit specifically includes:
Rotation translation transformation matrix determines subelement, for according to the approximate course angle, the frame head moment course angle, institute
It states postamble moment course angle and the speed determines the rotation translation transformation matrix
Wherein GuFor the rotation translation transformation matrix；αiCourse angle when for i-th in the frame point cloud data；V is the laser
The speed of radar equipped vehicle；T is the collection period of laser radar；D is the angular resolution of laser radar；β is the approximation
Course angle.
Optionally, the first coordinate system transformation module specifically includes:
First coordinate system transformation unit, for according to the rotation translation transformation matrix in the frame point cloud data
I-th point of progress rotary flat moves transformation, by i-th point transformation under bodywork reference frame to i-th point under earth coordinates.
Optionally, the second coordinate system transformation module specifically includes:
Frame head moment rotational transformation matrix determination unit, for determining that the frame head moment revolves according to the frame head moment course angle
Turn transformation matrix；
Second coordinate system transformation unit, being used for will be under the earth coordinates according to the frame head moment rotational transformation matrix
The i-th point transformation return bodywork reference frame, obtain go distortion after i-th point cloud data.
The specific embodiment provided according to the present invention, the invention discloses following technical effects:
The present invention provides a kind of laser radar point cloud and goes distortion method and system, can be used for removing laser radar and collects
Point cloud data in due to laser radar itself movement and the distortion that generates.The method obtains laser radar acquisition first
The point cloud information of one frame point cloud data；The point cloud information includes each point in the frame point cloud data in bodywork reference frame
Under coordinate, the frame head moment course angle of the frame point cloud data, postamble moment course angle and the laser radar carry
The speed of vehicle；Then the rotation translation transformation matrix for going distortion process is determined according to the point cloud information；According to the rotation
The point cloud data is converted into earth coordinates from bodywork reference frame by translation transformation matrix, obtains the point cloud under earth coordinates
Data；The point cloud data under the earth coordinates is finally switched back into bodywork reference frame, obtains the point cloud data after going distortion.
Laser radar point cloud provided by the invention goes distortion method smaller relative to conventional method calculation amount, and real-time is stronger, stability
It is higher, it is particularly suitable for the automatic driving vehicle run at a low speed.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the method flow diagram that laser radar point cloud provided by the invention goes distortion method；
Fig. 2 is unmanned vehicle course angle schematic diagram provided by the invention；
Fig. 3 is the process schematic that coordinate system transformation is carried out using the method for the present invention；
Fig. 4 is that approximate course angle provided by the invention solves schematic diagram；
Fig. 5 is to carry out the schematic diagram that a cloud goes distortion process using the method for the present invention；
Fig. 6 is the system construction drawing that laser radar point cloud provided by the invention removes distortion system.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide a kind of laser radar point clouds to go distortion method and system, goes distortion result to improve
Stability and real-time, while reducing and going distortion process calculation amount.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
Fig. 1 is the method flow diagram that laser radar point cloud provided by the invention goes distortion method.Referring to Fig. 1, the present invention is mentioned
The laser radar point cloud of confession goes distortion method to specifically include:
Step 101: obtaining the point cloud information of a frame point cloud data of laser radar acquisition.
It, can be by the method for the invention under conditions of known laser radar equipped vehicle and laser radar status information
It eliminates or reduces due to the point cloud distortion that laser radar itself moves and generates in point cloud data, to allow point cloud data more
Add the environmental information that truly reaction detection arrives.
The point cloud information that the present invention acquires includes each point in the frame point cloud data under bodywork reference frame
Coordinate, frame head when coordinate of each point under bodywork reference frame in the frame point cloud data includes k-th frame is in car body
Coordinate (X under coordinate systemKF u, YKF u), the coordinate (X of the postamble of k-th frame under bodywork reference frameKL u, YKL u) and k-th frame point
Coordinate of i-th point data under bodywork reference frame in cloud data in addition to frame head and postamble.
The point cloud information further includes the vehicle velocity V of the laser radar equipped vehicle, the laser radar equipped vehicle
Course angle α, the collection period T of laser radar, laser radar angular resolution D.The laser radar equipped vehicle is usually
Unmanned vehicle, V are the speed of unmanned vehicle, can be read by the wheel speed sensors on unmanned vehicle.The laser radar equipped vehicle
Course angle α includes frame head moment course angle αFWith postamble moment course angle αL, can be read by the inertial navigation system on unmanned vehicle.
The frame head moment course angle αFThe as course angle of frame head moment unmanned vehicle, the postamble moment course angle αLAs postamble when
Carve the course angle of unmanned vehicle.Fig. 2 is unmanned vehicle course angle schematic diagram provided by the invention.XOY is earth coordinates, X ' in Fig. 2
O ' Y ' is bodywork reference frame.As shown in Fig. 2, unmanned vehicle course angle α is positive value, and α is when unmanned vehicle turns left when unmanned vehicle is turned right
Negative value.
Step 102: the rotation translation transformation matrix for going distortion process is determined according to the point cloud information.
Fig. 3 is the process schematic that coordinate system transformation is carried out using the method for the present invention.If earth coordinates are H (XOY), vehicle
Body local coordinate system is U (X ' O ' Y '), and coordinate of the frame head under earth coordinates when k-th frame is (XkF H, YKF H), when k-th frame
Coordinate (X of the frame head under bodywork reference frameKF u, YKF u), coordinate of the postamble of k-th frame under earth coordinates is (XkL H,
YKL H), coordinate of the postamble of k-th frame under bodywork reference frame is (XKL u, YKL u)。
By coordinate (X of the postamble under bodywork reference frameKL u, YKL u) it is transformed to the coordinate under earth coordinates:
(XkL H, YKL H)=(XKL u, YKL u)R1
Wherein R1For postamble moment rotational transformation matrix, the i.e. rotational transformation matrix of bodywork reference frame to earth coordinates.Wherein αLFor the course angle of postamble moment unmanned vehicle.
By the coordinate (X of postambleKL u, YKL u) transform under earth coordinates from bodywork reference frame after, in combination with interframe
Amount of exercise S and approximation course angle β translate the coordinate.The road that unmanned vehicle travels within a laser radar scanning period
Journey can obtain, i.e. interframe movement amount S=VT according to unmanned vehicle speed.It is combined by interframe movement amount and approximate course angle each
The point cloud data point collected moment translates the coordinate.
If the coordinate of postamble is (X after translationkL HF, YKL HF), then coordinate can be acquired by following formula after translating:
(XKL HF, YKL HF, 1) and=(XKL H, YKL H, 1) and M
Wherein M is translation transformation matrix,β is approximate course angle.
Fig. 4 is that approximate course angle provided by the invention solves schematic diagram.As shown in figure 4, the laser radar equipped vehicle
Approximate course angle can be calculated and obtain by frame head and course angle when postamble.In entire laser radar collection period, unmanned vehicle
Course angle can approximately indicate are as follows:
Δ α=α in formulaL-αF, αFFor the course angle of frame head moment unmanned vehicle, αLFor the course angle of postamble moment unmanned vehicle.
Fig. 5 is to carry out the schematic diagram that a cloud goes distortion process using the method for the present invention.It rotates and becomes in conjunction with the postamble moment
Change matrix R1, available rotation translation transformation matrix G:
That is:
(XKL HF, YKL HF, 1) and=(XKL u, YKL u, 1) and G
Subsequent coordinate (the X by postamble under earth coordinates againkL HF, YKL HF) switch back to bodywork reference frame, it can be completed whole
It is a to go distortion process:
(XKI UF, YKI UF)=(XkL HF, YKL HF)R2
Wherein R2For frame head moment rotational transformation matrix, the i.e. rotational transformation matrix of earth coordinates to bodywork reference frame.Wherein αFFor the course angle of frame head moment unmanned vehicle, as shown in Figure 5.
So far, the point cloud coordinate at postamble moment has projected under the bodywork reference frame at frame head moment, entire transformed
Journey is as shown in Figure 5.
The above process is by under the bodywork reference frame of the coordinate projection at postamble moment to frame head moment, then in frame head
It any i-th point between postamble, can first find out when laser radar collects at i-th, the amount of exercise S of unmanned vehiclei,
Since the rotation of laser radar is at the uniform velocity, then can learn when collecting at i-th, elapsed time ti:
It is obvious:
Assuming that course angle is even variation in collection period when unmanned vehicle turns to, then course angle at i-th
Are as follows:
Wherein Δ α=αL-αF。
The final rotation translation transformation matrix G being all suitable for for any i-th point available at this timeu:
Wherein GuFor the rotation translation transformation matrix；αiCourse angle when for i-th in the frame point cloud data；V is
The speed of the laser radar equipped vehicle；T is the collection period of laser radar；D is the angular resolution of laser radar；β is
The approximation course angle.
Step 103: the point cloud data is converted into from bodywork reference frame by the earth according to the rotation translation transformation matrix
Coordinate system obtains the point cloud data under earth coordinates.
After acquiring the approximate course angle, it will be rotated since frame head to the coordinate of each point postamble
Translation transformation, i.e., by each point and matrix GuIt is multiplied, obtains the point cloud data under earth coordinates.Specifically:
Transformation is moved to i-th point of progress rotary flat in the frame point cloud data according to the rotation translation transformation matrix,
I.e. by i-th point of coordinate under bodywork reference frame and rotation translation transformation matrix GuIt is multiplied, to obtain at i-th point in geodetic coordinates
Coordinate under system completes the point cloud data being converted into the point cloud data under bodywork reference frame under earth coordinates.
Step 104: the point cloud data under the earth coordinates being switched back into bodywork reference frame, obtains the point after going distortion
Cloud data.
After point cloud data under bodywork reference frame to be converted into the point cloud data under earth coordinates, that is, complete a cloud number
According to rotation transformation and translation transformation, then by the coordinate transform after each point transformation return bodywork reference frame, i.e., with matrix R2Phase
Multiply, obtains the point cloud data after going distortion.Specifically:
Frame head moment rotational transformation matrix is determined according to the frame head moment course angle
According to the frame head moment rotational transformation matrix R2By the i-th point transformation carriage return body coordinate under the earth coordinates
System, i.e., by i-th point of coordinate under earth coordinates and frame head moment rotational transformation matrix R2Be multiplied, thus obtain i-th point
Coordinate under bodywork reference frame obtains the point cloud data after going distortion.
The point cloud coordinate for completing to obtain after above-mentioned steps is to complete to remove the point cloud coordinate after distortion, and the coordinate is compared to original
Beginning point cloud data can more truly react the environmental information of surrounding.
As it can be seen that the present invention is by transforming to geodetic coordinates by bodywork reference frame for the coordinate of each point in a frame point cloud data
System, then carries out coordinate modification to each point according to interframe movement amount, then by revised coordinate by earth coordinates respectively
Bodywork reference frame is transformed to again, and that completes point cloud data goes distortion process, can remove the collected point cloud data of laser radar
In due to laser radar itself movement and the distortion that generates, this method is smaller relative to conventional method calculation amount, and real-time is more
By force, stability is higher, is particularly suitable for the automatic driving vehicle run at a low speed.
The laser radar point cloud provided according to the present invention goes distortion method, and the present invention also provides a kind of laser radar point clouds to go
Distortion system.Fig. 6 is the system construction drawing that laser radar point cloud provided by the invention removes distortion system.Referring to Fig. 6, the system
Include:
Point cloud information obtains module 601, the point cloud information of the frame point cloud data for obtaining laser radar acquisition；It is described
Point cloud information includes coordinate of each point under bodywork reference frame in the frame point cloud data, the frame point cloud data
The speed of frame head moment course angle, postamble moment course angle and the laser radar equipped vehicle；
Translation transformation matrix determining module 602 is rotated, for determining the rotation for going distortion process according to the point cloud information
Translation transformation matrix；
First coordinate system transformation module 603, for according to the rotation translation transformation matrix by the point cloud data from vehicle
Body coordinate system transformation obtains the point cloud data under earth coordinates to earth coordinates；
Second coordinate system transformation module 604, for the point cloud data under the earth coordinates to be switched back to car body coordinate
System obtains the point cloud data after going distortion.
Wherein, the rotation translation transformation matrix determining module 602 specifically includes:
Approximate course angle determination unit, for being determined according to the frame head moment course angle and the postamble moment course angle
The approximate course angle of the laser radar equipped vehicle；
Translation transformation matrix determination unit is rotated, for according to the approximate course angle, the frame head moment course angle, institute
It states postamble moment course angle and the speed determines the rotation translation transformation matrix.
The rotation translation transformation matrix determination unit specifically includes:
Rotation translation transformation matrix determines subelement, for according to the approximate course angle, the frame head moment course angle, institute
It states postamble moment course angle and the speed determines the rotation translation transformation matrix
Wherein GuFor the rotation translation transformation matrix；αiCourse angle when for i-th in the frame point cloud data；V is the laser
The speed of radar equipped vehicle；T is the collection period of laser radar；D is the angular resolution of laser radar；β is the approximation
Course angle.
The first coordinate system transformation module 603 specifically includes:
First coordinate system transformation unit, for according to the rotation translation transformation matrix in the frame point cloud data
I-th point of progress rotary flat moves transformation, by i-th point transformation under bodywork reference frame to i-th point under earth coordinates.
The second coordinate system transformation module 604 specifically includes:
Frame head moment rotational transformation matrix determination unit, for determining that the frame head moment revolves according to the frame head moment course angle
Turn transformation matrix；
Second coordinate system transformation unit, being used for will be under the earth coordinates according to the frame head moment rotational transformation matrix
The i-th point transformation return bodywork reference frame, obtain go distortion after i-th point cloud data.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For system disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, foundation
Thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification is not
It is interpreted as limitation of the present invention.
Claims (10)
1. a kind of laser radar point cloud goes distortion method, which is characterized in that the described method includes:
Obtain the point cloud information of a frame point cloud data of laser radar acquisition；The point cloud information includes the frame point cloud data
In coordinate of each point under bodywork reference frame, the frame head moment course angle of the frame point cloud data, postamble moment course
The speed of angle and the laser radar equipped vehicle；
The rotation translation transformation matrix for going distortion process is determined according to the point cloud information；
The point cloud data is converted into earth coordinates from bodywork reference frame according to the rotation translation transformation matrix, is obtained big
Point cloud data under ground coordinate system；
Point cloud data under the earth coordinates is switched back into bodywork reference frame, obtains the point cloud data after going distortion.
2. laser radar point cloud according to claim 1 goes distortion method, which is characterized in that described to be believed according to described cloud
Breath determines the rotation translation transformation matrix for going distortion process, specifically includes:
The approximation of the laser radar equipped vehicle is determined according to the frame head moment course angle and the postamble moment course angle
Course angle；
It is determined according to the approximate course angle, the frame head moment course angle, the postamble moment course angle and the speed
The rotation translation transformation matrix.
3. laser radar point cloud according to claim 2 goes distortion method, which is characterized in that described according to the approximate boat
The rotation translation transformation square is determined to angle, the frame head moment course angle, the postamble moment course angle and the speed
Battle array, specifically includes:
It is determined according to the approximate course angle, the frame head moment course angle, the postamble moment course angle and the speed
The rotation translation transformation matrixWherein GuFor the rotation translation transformation
Matrix；αiCourse angle when for i-th in the frame point cloud data；∨ is the speed of the laser radar equipped vehicle；T is
The collection period of laser radar；D is the angular resolution of laser radar；β is the approximate course angle.
4. laser radar point cloud according to claim 3 goes distortion method, which is characterized in that described according to the rotary flat
It moves transformation matrix and the point cloud data is converted into earth coordinates from bodywork reference frame, obtain the point cloud number under earth coordinates
According to specifically including:
Transformation is moved to i-th point of progress rotary flat in the frame point cloud data according to the rotation translation transformation matrix, by vehicle
I-th point transformation under body coordinate system is to i-th point under earth coordinates.
5. laser radar point cloud according to claim 4 goes distortion method, which is characterized in that described by the geodetic coordinates
Point cloud data under system switches back to bodywork reference frame, obtains the point cloud data after going distortion, specifically includes:
Frame head moment rotational transformation matrix is determined according to the frame head moment course angle；
The i-th point transformation under the earth coordinates is returned into bodywork reference frame according to the frame head moment rotational transformation matrix, is obtained
I-th point cloud data after must going distortion.
6. a kind of laser radar point cloud removes distortion system, which is characterized in that the system comprises:
Point cloud information obtains module, the point cloud information of the frame point cloud data for obtaining laser radar acquisition；Described cloud letter
Breath includes coordinate of each point under bodywork reference frame in the frame point cloud data, when the frame head of the frame point cloud data
Carve the speed of course angle, postamble moment course angle and the laser radar equipped vehicle；
Translation transformation matrix determining module is rotated, for determining the rotation translation transformation for going distortion process according to the point cloud information
Matrix；
First coordinate system transformation module, for according to the rotation translation transformation matrix by the point cloud data from bodywork reference frame
Earth coordinates are converted into, the point cloud data under earth coordinates is obtained；
Second coordinate system transformation module is obtained for the point cloud data under the earth coordinates to be switched back to bodywork reference frame
Point cloud data after going distortion.
7. laser radar point cloud according to claim 6 removes distortion system, which is characterized in that the rotation translation transformation square
Battle array determining module specifically includes:
Approximate course angle determination unit, for according to the frame head moment course angle and postamble moment course angle determination
The approximate course angle of laser radar equipped vehicle；
Translation transformation matrix determination unit is rotated, for according to the approximate course angle, the frame head moment course angle, the frame
Tail moment course angle and the speed determine the rotation translation transformation matrix.
8. laser radar point cloud according to claim 7 removes distortion system, which is characterized in that the rotation translation transformation square
Battle array determination unit specifically includes:
Rotation translation transformation matrix determines subelement, for according to the approximate course angle, the frame head moment course angle, the frame
Tail moment course angle and the speed determine the rotation translation transformation matrix
Wherein GuFor the rotation translation transformation matrix；αiCourse angle when for i-th in the frame point cloud data；V is the laser
The speed of radar equipped vehicle；T is the collection period of laser radar；D is the angular resolution of laser radar；β is the approximation
Course angle.
9. laser radar point cloud according to claim 8 removes distortion system, which is characterized in that first coordinate system transformation
Module specifically includes:
First coordinate system transformation unit, for according to the rotation translation transformation matrix to i-th in the frame point cloud data
Point carries out rotary flat and moves transformation, by i-th point transformation under bodywork reference frame to i-th point under earth coordinates.
10. laser radar point cloud according to claim 9 removes distortion system, which is characterized in that second coordinate system becomes
Mold changing block specifically includes:
Frame head moment rotational transformation matrix determination unit, for determining that the rotation of frame head moment becomes according to the frame head moment course angle
Change matrix；
Second coordinate system transformation unit, for according to the frame head moment rotational transformation matrix by under the earth coordinates
I point transformation returns bodywork reference frame, obtains i-th point cloud data after going distortion.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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