CN110114692A - 一种地面环境的检测方法和装置 - Google Patents
一种地面环境的检测方法和装置 Download PDFInfo
- Publication number
- CN110114692A CN110114692A CN201680091952.6A CN201680091952A CN110114692A CN 110114692 A CN110114692 A CN 110114692A CN 201680091952 A CN201680091952 A CN 201680091952A CN 110114692 A CN110114692 A CN 110114692A
- Authority
- CN
- China
- Prior art keywords
- scanning element
- laser
- ground environment
- subregion
- information
- 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.)
- Granted
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 47
- 238000000034 method Methods 0.000 claims abstract description 40
- 230000011218 segmentation Effects 0.000 claims description 66
- 238000002310 reflectometry Methods 0.000 claims description 43
- 238000013528 artificial neural network Methods 0.000 claims description 36
- 238000012545 processing Methods 0.000 claims description 26
- 230000007613 environmental effect Effects 0.000 claims description 17
- 238000013499 data model Methods 0.000 claims description 14
- 238000009434 installation Methods 0.000 claims description 10
- 230000009466 transformation Effects 0.000 claims description 10
- 238000013459 approach Methods 0.000 claims description 8
- 230000000694 effects Effects 0.000 abstract description 10
- 230000004927 fusion Effects 0.000 description 14
- 238000003860 storage Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- 238000004891 communication Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 6
- 230000003287 optical effect Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000007796 conventional method Methods 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000012549 training Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 239000013307 optical fiber Substances 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 241000931526 Acer campestre Species 0.000 description 1
- 244000025254 Cannabis sativa Species 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000000802 evaporation-induced self-assembly Methods 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/491—Details of non-pulse systems
- G01S7/4912—Receivers
- G01S7/4913—Circuits for detection, sampling, integration or read-out
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4808—Evaluating distance, position or velocity data
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/23—Clustering techniques
- G06F18/232—Non-hierarchical techniques
- G06F18/2321—Non-hierarchical techniques using statistics or function optimisation, e.g. modelling of probability density functions
- G06F18/23213—Non-hierarchical techniques using statistics or function optimisation, e.g. modelling of probability density functions with fixed number of clusters, e.g. K-means clustering
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/25—Fusion techniques
- G06F18/251—Fusion techniques of input or preprocessed data
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/25—Fusion techniques
- G06F18/253—Fusion techniques of extracted features
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/02—Neural networks
-
- 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
- G06V10/22—Image preprocessing by selection of a specific region containing or referencing a pattern; Locating or processing of specific regions to guide the detection or recognition
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/60—Extraction of image or video features relating to illumination properties, e.g. using a reflectance or lighting model
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/762—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using clustering, e.g. of similar faces in social networks
- G06V10/763—Non-hierarchical techniques, e.g. based on statistics of modelling distributions
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/764—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/77—Processing image or video features in feature spaces; using data integration or data reduction, e.g. principal component analysis [PCA] or independent component analysis [ICA] or self-organising maps [SOM]; Blind source separation
- G06V10/80—Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level
- G06V10/803—Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level of input or preprocessed data
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/77—Processing image or video features in feature spaces; using data integration or data reduction, e.g. principal component analysis [PCA] or independent component analysis [ICA] or self-organising maps [SOM]; Blind source separation
- G06V10/80—Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level
- G06V10/806—Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level of extracted features
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/82—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using neural networks
-
- 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
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/02—Neural networks
- G06N3/08—Learning methods
Abstract
一种地面环境检测的方法和装置,方法包括:采用不同工作波长激光探测信号扫描地面环境,接收地面环境反射回来的反射信号,根据反射信号确定地面环境的每个扫描点的扫描点信息,根据每个扫描点信息确定每个扫描点的空间坐标信息和激光反射特征,将地面环境分割成具有不同激光反射特征的子区域,确定各子区域的地面环境类型。由于利用了不同工作波长的激光雷达扫描地面,并依据地面环境在不同波长激光下的反射强度判断地面环境类型,提高了对复杂地面环境的感知效果,更好地确定可通行路面。
Description
PCT国内申请,说明书已公开。
Claims (18)
- PCT国内申请,权利要求书已公开。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/CN2016/113089 WO2018119902A1 (zh) | 2016-12-29 | 2016-12-29 | 一种地面环境的检测方法和装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN110114692A true CN110114692A (zh) | 2019-08-09 |
CN110114692B CN110114692B (zh) | 2021-09-17 |
Family
ID=62710144
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201680091952.6A Active CN110114692B (zh) | 2016-12-29 | 2016-12-29 | 一种地面环境的检测方法和装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US11455511B2 (zh) |
EP (1) | EP3553566B1 (zh) |
JP (1) | JP6798032B2 (zh) |
KR (1) | KR102243118B1 (zh) |
CN (1) | CN110114692B (zh) |
WO (1) | WO2018119902A1 (zh) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111948669A (zh) * | 2020-08-11 | 2020-11-17 | 锐驰智光(苏州)科技有限公司 | 一种基于激光雷达的高光谱数据信息获取系统 |
CN113040645A (zh) * | 2019-12-26 | 2021-06-29 | 江苏美的清洁电器股份有限公司 | 清洁设备、清洁设备控制方法及装置 |
CN115248428A (zh) * | 2021-04-28 | 2022-10-28 | 北京航迹科技有限公司 | 激光雷达的标定、扫描方法、装置、电子设备及存储介质 |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11592566B2 (en) | 2019-08-15 | 2023-02-28 | Volvo Car Corporation | Vehicle systems and methods utilizing LIDAR data for road condition estimation |
US11124193B2 (en) | 2018-05-03 | 2021-09-21 | Volvo Car Corporation | System and method for providing vehicle safety distance and speed alerts under slippery road conditions |
CN111670385A (zh) * | 2019-01-07 | 2020-09-15 | 深圳市大疆创新科技有限公司 | 数据处理方法、探测装置、数据处理装置、可移动平台 |
CN110441269A (zh) * | 2019-08-13 | 2019-11-12 | 江苏东交工程检测股份有限公司 | 标线反光检测方法、装置、设备及存储介质 |
CN110674292B (zh) * | 2019-08-27 | 2023-04-18 | 腾讯科技(深圳)有限公司 | 一种人机交互方法、装置、设备及介质 |
US10852158B1 (en) * | 2019-09-27 | 2020-12-01 | Kitty Hawk Corporation | Distance sensor test system |
CN111123278B (zh) * | 2019-12-30 | 2022-07-12 | 科沃斯机器人股份有限公司 | 分区方法、设备及存储介质 |
CN115188183A (zh) * | 2020-02-25 | 2022-10-14 | 华为技术有限公司 | 特殊路况的识别方法、装置、电子设备和存储介质 |
CN111724485A (zh) * | 2020-06-11 | 2020-09-29 | 浙江商汤科技开发有限公司 | 实现虚实融合的方法、装置、电子设备及存储介质 |
JP7338607B2 (ja) | 2020-10-29 | 2023-09-05 | トヨタ自動車株式会社 | 車両位置推定装置 |
CN114812529B (zh) * | 2021-01-18 | 2023-12-08 | 上海理工大学 | 一种洁净室测点装置及洁净室的测点方法 |
CN113436258B (zh) * | 2021-06-17 | 2023-09-12 | 中国船舶重工集团公司第七0七研究所九江分部 | 基于视觉与激光雷达融合的海上浮码头检测方法及系统 |
CN113670277A (zh) * | 2021-08-25 | 2021-11-19 | 广东博智林机器人有限公司 | 地面装饰安装测绘方法、装置和测绘小车 |
Citations (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2002156452A (ja) * | 2000-11-20 | 2002-05-31 | Hioki Ee Corp | レーザレーダシステム |
EP1569007A2 (en) * | 2004-02-26 | 2005-08-31 | Rosemount Aerospace Inc. | A system and method of identifying an object in a laser beam illuminated scene based on material types |
CN101044507A (zh) * | 2005-09-01 | 2007-09-26 | 松下电器产业株式会社 | 图像处理方法、图像处理装置及图像处理程序 |
CN101806579A (zh) * | 2009-02-16 | 2010-08-18 | 华为技术有限公司 | 反射镜位置采样、标定方法及装置和激光器 |
US20100274539A1 (en) * | 2009-04-24 | 2010-10-28 | Hemant VIRKAR | Methods for mapping data into lower dimensions |
CN102142892A (zh) * | 2010-06-30 | 2011-08-03 | 华为技术有限公司 | 一种探测脉冲的产生方法和相干光时域反射仪 |
US20130093852A1 (en) * | 2011-10-12 | 2013-04-18 | Board Of Trustees Of The University Of Arkansas | Portable robotic device |
CN103198302A (zh) * | 2013-04-10 | 2013-07-10 | 浙江大学 | 一种基于双模态数据融合的道路检测方法 |
CN104463217A (zh) * | 2014-12-15 | 2015-03-25 | 长春理工大学 | 基于激光雷达的路面类型识别方法及装置 |
CN104656101A (zh) * | 2015-01-30 | 2015-05-27 | 福州华鹰重工机械有限公司 | 一种障碍物检测方法 |
US9128190B1 (en) * | 2013-03-06 | 2015-09-08 | Google Inc. | Light steering device with an array of oscillating reflective slats |
CN105510897A (zh) * | 2015-12-01 | 2016-04-20 | 中国科学院上海技术物理研究所 | 基于地物类型卫星激光雷达出射激光波长反射率估算方法 |
CN105793677A (zh) * | 2013-12-06 | 2016-07-20 | 霍尼韦尔国际公司 | 具有多个波形的自适应雷达系统 |
Family Cites Families (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CA1235773A (en) * | 1983-12-23 | 1988-04-26 | Shigeto Nakayama | Device for detecting road surface condition |
US7630806B2 (en) * | 1994-05-23 | 2009-12-08 | Automotive Technologies International, Inc. | System and method for detecting and protecting pedestrians |
US7840342B1 (en) * | 1997-10-22 | 2010-11-23 | Intelligent Technologies International, Inc. | Road physical condition monitoring techniques |
NL1009364C2 (nl) * | 1998-06-10 | 1999-12-13 | Road Ware B V | Inrichting voor het bepalen van een profiel van een wegdek. |
JP2005090974A (ja) * | 2003-09-12 | 2005-04-07 | Daihatsu Motor Co Ltd | 先行車認識装置 |
JP2007240314A (ja) * | 2006-03-08 | 2007-09-20 | Omron Corp | 物体検出装置 |
ATE556397T1 (de) | 2006-09-28 | 2012-05-15 | Bea Sa | Sensor zur präsenzdetektion |
JP2012189535A (ja) * | 2011-03-14 | 2012-10-04 | Ihi Corp | 植生検出装置及び植生検出方法 |
JP2013181968A (ja) * | 2012-03-05 | 2013-09-12 | Ricoh Co Ltd | 光学装置 |
US9110196B2 (en) | 2012-09-20 | 2015-08-18 | Google, Inc. | Detecting road weather conditions |
DE102013002333A1 (de) * | 2013-02-12 | 2014-08-14 | Continental Teves Ag & Co. Ohg | Verfahren und Strahlensensormodul zur vorausschauenden Straßenzustandsbestimmung in einem Fahrzeug |
JP2015014514A (ja) * | 2013-07-04 | 2015-01-22 | パイオニア株式会社 | 識別装置 |
CN103776318A (zh) * | 2014-01-03 | 2014-05-07 | 中国人民解放军陆军军官学院 | 光电检测环境模拟系统 |
CN104408443B (zh) | 2014-12-15 | 2017-07-18 | 长春理工大学 | 多传感器辅助的基于激光雷达的路面类型识别方法及装置 |
US9453941B2 (en) * | 2014-12-22 | 2016-09-27 | GM Global Technology Operations LLC | Road surface reflectivity detection by lidar sensor |
CN104850834A (zh) | 2015-05-11 | 2015-08-19 | 中国科学院合肥物质科学研究院 | 基于三维激光雷达的道路边界检测方法 |
JP2016223795A (ja) * | 2015-05-27 | 2016-12-28 | 国立大学法人名古屋大学 | 床面状態検出装置および床面状態検出方法 |
CN105094143A (zh) * | 2015-08-27 | 2015-11-25 | 泉州装备制造研究所 | 基于无人机的地图显示方法和装置 |
WO2017053415A1 (en) * | 2015-09-24 | 2017-03-30 | Quovard Management Llc | Systems and methods for surface monitoring |
KR20170096723A (ko) * | 2016-02-17 | 2017-08-25 | 한국전자통신연구원 | 라이다 시스템 및 이의 다중 검출 신호 처리 방법 |
US10761195B2 (en) * | 2016-04-22 | 2020-09-01 | OPSYS Tech Ltd. | Multi-wavelength LIDAR system |
-
2016
- 2016-12-29 JP JP2019535919A patent/JP6798032B2/ja active Active
- 2016-12-29 KR KR1020197021867A patent/KR102243118B1/ko active IP Right Grant
- 2016-12-29 WO PCT/CN2016/113089 patent/WO2018119902A1/zh unknown
- 2016-12-29 CN CN201680091952.6A patent/CN110114692B/zh active Active
- 2016-12-29 EP EP16925037.0A patent/EP3553566B1/en active Active
-
2019
- 2019-06-28 US US16/456,057 patent/US11455511B2/en active Active
Patent Citations (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2002156452A (ja) * | 2000-11-20 | 2002-05-31 | Hioki Ee Corp | レーザレーダシステム |
EP1569007A2 (en) * | 2004-02-26 | 2005-08-31 | Rosemount Aerospace Inc. | A system and method of identifying an object in a laser beam illuminated scene based on material types |
CN101044507A (zh) * | 2005-09-01 | 2007-09-26 | 松下电器产业株式会社 | 图像处理方法、图像处理装置及图像处理程序 |
CN101806579A (zh) * | 2009-02-16 | 2010-08-18 | 华为技术有限公司 | 反射镜位置采样、标定方法及装置和激光器 |
US20100274539A1 (en) * | 2009-04-24 | 2010-10-28 | Hemant VIRKAR | Methods for mapping data into lower dimensions |
CN102142892A (zh) * | 2010-06-30 | 2011-08-03 | 华为技术有限公司 | 一种探测脉冲的产生方法和相干光时域反射仪 |
US20130093852A1 (en) * | 2011-10-12 | 2013-04-18 | Board Of Trustees Of The University Of Arkansas | Portable robotic device |
US9128190B1 (en) * | 2013-03-06 | 2015-09-08 | Google Inc. | Light steering device with an array of oscillating reflective slats |
CN103198302A (zh) * | 2013-04-10 | 2013-07-10 | 浙江大学 | 一种基于双模态数据融合的道路检测方法 |
CN105793677A (zh) * | 2013-12-06 | 2016-07-20 | 霍尼韦尔国际公司 | 具有多个波形的自适应雷达系统 |
CN104463217A (zh) * | 2014-12-15 | 2015-03-25 | 长春理工大学 | 基于激光雷达的路面类型识别方法及装置 |
CN104656101A (zh) * | 2015-01-30 | 2015-05-27 | 福州华鹰重工机械有限公司 | 一种障碍物检测方法 |
CN105510897A (zh) * | 2015-12-01 | 2016-04-20 | 中国科学院上海技术物理研究所 | 基于地物类型卫星激光雷达出射激光波长反射率估算方法 |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113040645A (zh) * | 2019-12-26 | 2021-06-29 | 江苏美的清洁电器股份有限公司 | 清洁设备、清洁设备控制方法及装置 |
CN113040645B (zh) * | 2019-12-26 | 2022-08-02 | 江苏美的清洁电器股份有限公司 | 清洁设备、清洁设备控制方法及装置 |
CN111948669A (zh) * | 2020-08-11 | 2020-11-17 | 锐驰智光(苏州)科技有限公司 | 一种基于激光雷达的高光谱数据信息获取系统 |
CN111948669B (zh) * | 2020-08-11 | 2023-01-10 | 锐驰智光(苏州)科技有限公司 | 一种基于激光雷达的高光谱数据信息获取系统 |
CN115248428A (zh) * | 2021-04-28 | 2022-10-28 | 北京航迹科技有限公司 | 激光雷达的标定、扫描方法、装置、电子设备及存储介质 |
CN115248428B (zh) * | 2021-04-28 | 2023-12-22 | 北京航迹科技有限公司 | 激光雷达的标定、扫描方法、装置、电子设备及存储介质 |
Also Published As
Publication number | Publication date |
---|---|
US11455511B2 (en) | 2022-09-27 |
EP3553566A4 (en) | 2020-01-08 |
EP3553566A1 (en) | 2019-10-16 |
CN110114692B (zh) | 2021-09-17 |
KR102243118B1 (ko) | 2021-04-21 |
EP3553566B1 (en) | 2022-06-22 |
US20190317218A1 (en) | 2019-10-17 |
JP2020504827A (ja) | 2020-02-13 |
KR20190098238A (ko) | 2019-08-21 |
WO2018119902A1 (zh) | 2018-07-05 |
JP6798032B2 (ja) | 2020-12-09 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN110114692A (zh) | 一种地面环境的检测方法和装置 | |
US10366310B2 (en) | Enhanced camera object detection for automated vehicles | |
CN111201448B (zh) | 用于产生反演传感器模型的方法和设备以及用于识别障碍物的方法 | |
US10509980B2 (en) | Method to provide a vehicle environment contour polyline from detection data | |
US11568654B2 (en) | Object recognition method and object recognition device performing the same | |
CN111784730B (zh) | 一种对象跟踪方法、装置、电子设备及存储介质 | |
US11308346B2 (en) | Sensor information integration system, sensor information integration method, and program | |
CN110470308A (zh) | 一种避障系统及方法 | |
CN111354022A (zh) | 基于核相关滤波的目标跟踪方法及系统 | |
CN112991389A (zh) | 一种目标跟踪方法、装置及移动机器人 | |
CN113776533A (zh) | 可移动设备的重定位方法及装置 | |
US10989804B2 (en) | Method and apparatus for optical distance measurements | |
CN115147333A (zh) | 一种目标检测方法及装置 | |
WO2022179207A1 (zh) | 视窗遮挡检测方法及装置 | |
CN112528781A (zh) | 一种障碍物检测方法、装置、设备和计算机可读存储介质 | |
US20200258379A1 (en) | Determination of movement information with surroundings sensors | |
WO2020103043A1 (zh) | 线状物识别方法及装置、系统和计算机存储介质 | |
CN116363615B (zh) | 数据融合方法、装置、车辆和存储介质 | |
US20230146935A1 (en) | Content capture of an environment of a vehicle using a priori confidence levels | |
CN116736231A (zh) | 一种场景重识别方法、装置、计算机设备及存储介质 | |
CN117723053A (zh) | 强化学习式多传感器融合导航方法、装置及电子设备 | |
WO2023118943A1 (en) | Joint object detection and simultaneous localization and mapping method for automated perception | |
KR20230030354A (ko) | 주변 환경을 고려한 신뢰도 높은 다종의 센서 데이터를 융합한 위치 측위 장치 및 방법 | |
CN114937079A (zh) | 一种障碍物检测方法、装置及一种机器人 | |
CN115761872A (zh) | 基于循环神经网络的雷达识别方法装置、存储介质和终端 |
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 |