CN110275181A - A kind of vehicle-mounted mobile measuring system and its data processing method - Google Patents
A kind of vehicle-mounted mobile measuring system and its data processing method Download PDFInfo
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- CN110275181A CN110275181A CN201910611750.5A CN201910611750A CN110275181A CN 110275181 A CN110275181 A CN 110275181A CN 201910611750 A CN201910611750 A CN 201910611750A CN 110275181 A CN110275181 A CN 110275181A
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- 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
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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- 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
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention relates to a kind of vehicle-mounted mobile measuring system and its data processing methods, including collecting vehicle, the supporting mechanism being set in collecting vehicle, and the single line laser radar, multi-line laser radar, inertial navigation system and the binocular camera that are fixedly installed on the supporting mechanism.Data processing equipment is equipped in collecting vehicle, single line laser radar, multi-line laser radar, inertial navigation system and binocular camera are connect with data processing equipment respectively.The present invention constitutes multi-source sensing modes using single line laser radar, multi-line laser radar and binocular camera, when collecting vehicle enters the extreme terrain of the dtr signals such as tunnel, SLAM algorithm is based on using the data that multi-line laser radar and binocular camera acquire to be handled, and the corresponding point cloud and real-time imaging map of target scene are obtained.The vehicle-mounted traverse measurement system of tradition is solved in special screnes such as tunnels, since signal losing lock causes data precision to lead to the problem of deviation.Improve the reliability of vehicle-mounted mobile measuring system acquisition data.
Description
Technical field
The present invention relates to traverse measurement technical field more particularly to a kind of vehicle-mounted mobile measuring system and its data processing sides
Method.
Background technique
Currently, along with the rapid development of automatic control technology, navigator fix technology, airmanship and computer technology,
Spatial information acquiring technology is developed rapidly.Vehicle-mounted mobile measuring system is using motor vehicle as information collecting platform, in vehicle
Under normally travel state, the spatial position data and attribute data of Quick Acquisition road and road both sides atural object, such as Target scalar
Position coordinates, have a lot of social connections, bridge height, road equipment etc..
Traditional vehicle-mounted mobile measuring system is usually that a single line or multi-line laser radar sensor are equipped in collecting vehicle,
It is resolved by inertial navigation POS and obtains the high-precision data with three-dimensional point cloud.
However, due to acquiring signal long-time losing lock, causing to lead to when traditional vehicle-mounted traverse measurement system acquisition tunnel scene
Crossing the point cloud data precision that POS resolving mode obtains can not ensure, be unable to satisfy automatic Pilot accuracy requirement.
Summary of the invention
The present invention for the technical problems in the prior art, provides at a kind of vehicle-mounted mobile measuring system and its data
Reason method, when solving the special screnes such as traditional vehicle-mounted mobile measuring system acquisition tunnel, since inertial navigation signal losing lock causes to count
Deviation is led to the problem of according to precision, improves the reliability of the data of vehicle-mounted mobile measuring system acquisition.
The technical scheme to solve the above technical problems is that
In a first aspect, the present invention provides a kind of vehicle-mounted mobile measuring system, including collecting vehicle, the branch being set in collecting vehicle
Support mechanism, and be fixedly installed on the supporting mechanism single line laser radar, multi-line laser radar, inertial navigation system and
Binocular camera, the collecting vehicle is interior to be equipped with data processing equipment, the single line laser radar, multi-line laser radar, inertial navigation
System and binocular camera are connect with the data processing equipment respectively；
The single line laser radar is used to acquire the single line laser radar point cloud data of target scene, the multi-thread laser thunder
Up to the multi-line laser radar point cloud data for acquiring target scene, the binocular camera is used to acquire the depth map of target scene
Picture, the inertial navigation system are used to obtain the POS data of collecting vehicle；The data processing equipment obtains the multi-thread laser thunder
It up to point cloud data and depth image, is handled based on SLAM algorithm, obtains the opposite point cloud data and real-time shadow of target scene
As map.
Further, the data processing equipment includes memory module and processing module；
The memory module is for storing single line laser radar, multi-line laser radar, inertial navigation system and binocular camera
The data of acquisition, the processing module are calculated for obtaining the multi-line laser radar point cloud data and depth image based on SLAM
Method is handled, and the opposite point cloud data and real-time imaging map of target scene are obtained.
Further, the supporting mechanism includes steelframe platform, support platform and support rod, and the support platform includes plane
Structure and bevel structure, the planar structure are vertically fixed the support rod, the inclined-plane close to one end of collecting vehicle headstock
Single line laser radar is installed, the top of the support rod is equipped with antenna in structure.
Further, the multi-line laser radar is horizontally placed on the top of the support rod.
Further, the binocular camera is fixedly installed in support platform close to the side of collecting vehicle headstock, and the binocular
The lens direction of camera is parallel with collecting vehicle driving direction.
Second aspect, the present invention provide a kind of data processing method of vehicle-mounted mobile measuring system, comprising:
Acquire the multi-line laser radar point cloud data and depth image of target scene；
It according to the multi-line laser radar point cloud data and depth image, is handled based on SLAM algorithm, obtains target
The opposite point cloud data and real-time imaging map of scene.
Further, the acquisition multi-line laser radar point cloud data and depth image, are handled based on SLAM algorithm, are obtained
The opposite point cloud data and real-time imaging map for obtaining target scene specifically include:
According to the multi-line laser radar point cloud data that multi-line laser radar acquires, target field is obtained by laser SLAM algorithm
The opposite point cloud data of scape obtains the reality of target scene by vision SLAM algorithm according to the depth image that binocular camera acquires
When photomap.
Further, the method also includes:
The POS data of collecting vehicle is obtained by inertial navigation system；
According to the POS data of the corresponding point cloud data correction collecting vehicle of the target scene, it is based on revised POS data
POS resolving is carried out to single line laser radar point cloud data and multi-line laser radar point cloud data, obtains the one or three of target scene
Tie up point cloud data.
Further, after the first three dimensional point cloud for obtaining target scene, the method further includes:
By the three-dimensional point cloud number of the single line laser radar point cloud data, multi-line laser radar point cloud data and target scene
According to fusion, the second three dimensional point cloud of target scene is obtained.
The third aspect, the present invention provide a kind of non-transient computer readable storage medium, are stored thereon with computer program,
The method as described in claim 6 to 9 is any is realized when the computer program is executed by processor.
It is passed the beneficial effects of the present invention are: constituting multi-source using single line laser radar, multi-line laser radar and binocular camera
Sense mode is adopted when collecting vehicle enters the extreme terrain of the dtr signals such as long tunnel using multi-line laser radar and binocular camera
The data of collection are based on SLAM algorithm and are handled, and obtain the opposite point cloud data and real-time imaging map of target scene.It solves
When the special screnes such as traditional vehicle-mounted mobile measuring system acquisition tunnel, since inertial navigation signal losing lock causes data precision to generate partially
The problem of difference.The probability that point cloud black hole is generated after avoiding signal from being blocked improves vehicle-mounted mobile measuring system acquisition data
Reliability.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of vehicle-mounted mobile measuring system provided in an embodiment of the present invention；
Fig. 2 is each module connection structure block diagram of vehicle-mounted mobile measuring system provided in an embodiment of the present invention；
Fig. 3 is the data processing method flow diagram of vehicle-mounted mobile measuring system provided in an embodiment of the present invention；
Fig. 4 is the data processing method flow diagram of vehicle-mounted mobile measuring system provided in an embodiment of the present invention.
In attached drawing, parts list represented by the reference numerals are as follows:
1, collecting vehicle, 2, single line laser radar, 3, multi-line laser radar, 4, inertial navigation system, 5, binocular camera, 6,
Data processing equipment, 7, steelframe platform, 8, support platform, 9, support rod, 10, antenna；
61, memory module, 62, processing module.
Specific embodiment
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the invention.
As shown in Figure 1, the present invention provides a kind of vehicle-mounted mobile measuring system, including collecting vehicle 1, it is set in collecting vehicle 1
Supporting mechanism, and the single line laser radar 2 that is fixedly installed on the supporting mechanism, multi-line laser radar 3, inertia lead
Boat system 4 and binocular camera 5, the collecting vehicle 1 is interior to be equipped with data processing equipment 6, the single line laser radar 2, multi-thread laser
Radar 3, inertial navigation system 4 (INS, Inertial Navigation System, abbreviation inertial navigation) and binocular camera 5 are distinguished
It is connect with the data processing equipment 6." inertial navigation " in Fig. 1 refers to " inertial navigation system ".
The single line laser radar 2 is used to acquire the single line laser radar point cloud data of target scene, the multi-thread laser
Radar 3 is used to acquire the multi-line laser radar point cloud data of target scene, and the binocular camera 5 is for acquiring target scene
Depth image, the inertial navigation system 4 are used to obtain the POS data of collecting vehicle 1；The data processing equipment 6 obtains described
Multi-line laser radar point cloud data and depth image are handled based on SLAM algorithm, obtain the corresponding point cloud number of target scene
According to real-time imaging map.
Specifically, referring to Fig.1, be equipped on the supporting mechanism of collecting vehicle 1 single line laser radar 2, multi-line laser radar 3,
Inertial navigation system 4 and binocular camera 5.Wherein, the harness that the laser source of single line laser radar issues is single line, for tracking
The motion profile of single object.Multi-line laser radar is the distribution by multiple laser emitters in vertical direction, passes through electricity
The rotation of machine forms the scanning of a plurality of harness.Under normal circumstances, the friendship of both sides of the road and top is acquired using multi-line laser radar 3
The point cloud data of the facades atural objects such as logical mark label, the point cloud data of pavement of road is acquired using single line laser radar 2.The present invention
This is not restricted.
The workflow of vehicle-mounted mobile measuring system is illustrated below: after system calibrating, collecting vehicle 1 start into
The acquisition of row data, single line laser radar 2 acquire the single line laser radar point cloud data of target scene, and multi-line laser radar 3 acquires
The multi-line laser radar point cloud data of target scene.The depth image of the acquisition target scene of binocular camera 5.Wherein, by laser thunder
Up to being scanned acquired data, as laser radar point cloud data.In the present embodiment, target scene refers to by collecting vehicle 1
The scene that the road and road periphery object of traveling are constituted.
Further, inertial navigation system 4 obtains the POS data of collecting vehicle 1, inertial navigation system (INS, Inertial
Navigation System, abbreviation inertial navigation) it is a kind of independent of external information, also not to the autonomous type of external radiation energy
Navigation system.Its working environment not only includes aerial, ground, can also be under water.The basic functional principle of inertial navigation is with newton
Based on mechanics law, by measurement carrier in the acceleration of inertial reference system, it integrates the time, and it is converted
Into navigational coordinate system, it will be able to obtain the information such as speed, yaw angle and the position in navigational coordinate system.Collecting vehicle 1 is one
As when being acquired on road, POS solution can be carried out according to the POS data of single line laser radar point cloud data and collecting vehicle 1
It calculates, obtains the three-dimensional point cloud of target scene.
Further, when the traveling of collecting vehicle 1 to the bad region such as long tunnel of inertial navigation signal, data processing equipment 6
Multi-line laser radar point cloud data and depth image are obtained, the multi-line laser radar point cloud number acquired according to multi-line laser radar 3
According to, pass through laser SLAM algorithm obtain target scene opposite point cloud data.Wherein, the opposite point cloud data of target scene refers to
The point cloud data of road and road periphery object relative to multi-line laser radar coordinate system in target scene.According to binocular camera
The depth image of 5 acquisitions, the real-time imaging map of target scene is obtained by vision SLAM algorithm.Wherein, SLAM
(simultaneous localization and mapping) refers to positioning and map structuring immediately.It is presently used on SLAM
Sensor be broadly divided into two classes, SLAM (the Visual SLAM of SLAM (laser SLAM) and view-based access control model based on laser radar
Or VSLAM).The collected object information of laser radar shows a series of dispersions, with precise angle and range information
Point, referred to as point cloud.Laser SLAM system by matching to different moments two panels point cloud with compare, calculate laser radar phase
Change to the distance and posture of movement also just completes the positioning to target piece.Vision SLAM can be in target scene
Texture information obtaining magnanimity, being imbued with redundancy, possesses stronger scenery identification ability.Vision SLAM can be utilized abundant
Texture information.Such as two the identical content of block size different billboard, the laser SLAM algorithm based on cloud cannot be distinguished from him
, and vision can then be differentiated easily, this results in unrivaled huge advantages on reorientation, scene classification.Meanwhile vision
Information can be relatively easy to be used to track and predict the dynamic object in scene, such as pedestrian, vehicle.The projective module of vision
Type theoretically can allow the object of unlimited distance all to enter in visual, (the binocular phase of such as Long baselines under reasonable configuration
Machine) the very positioning of large scale scene and map structuring can be carried out.
In the present embodiment, the processing step based on SLAM algorithm is specifically included: building local coordinate system, scanning obtain multi-thread
Laser point cloud data calculates the posture information for obtaining atural object in target scene, merges multi-thread laser point cloud data and posture information
Obtain the real-time imaging map of target scene.
It should be noted that traditional vehicle-mounted mobile measuring system is usually to be equipped with a single line or multi-thread sharp in collecting vehicle
Optical radar sensor is resolved by POS and obtains high accuracy three-dimensional point cloud data.However, the vehicle-mounted traverse measurement system of tradition is adopted
When collecting tunnel scene, due to acquiring signal long-time losing lock, cause the point cloud data precision obtained by way of POS resolving can not
It ensures, is unable to satisfy automatic Pilot accuracy requirement.And vehicle-mounted mobile measuring system provided by the invention, when collecting vehicle 1 travels extremely
When such as long tunnel of the bad region of inertial navigation signal, data processing equipment 6 obtains multi-line laser radar point cloud data and depth map
Picture obtains target scene by laser SLAM algorithm according to the multi-line laser radar point cloud data that multi-line laser radar 3 acquires
Opposite point cloud data；According to the depth image that binocular camera 5 acquires, the real-time of target scene is obtained by vision SLAM algorithm
Photomap.It can be improved the reliability of the data of vehicle-mounted mobile measuring system acquisition.
Vehicle-mounted mobile measuring system provided in an embodiment of the present invention, using single line laser radar, multi-line laser radar and double
Mesh camera constitutes multi-source sensing modes and utilizes multi-thread laser when collecting vehicle enters the extreme terrain of the dtr signals such as long tunnel
Radar and the data of binocular camera acquisition are based on SLAM algorithm and are handled, and obtain the opposite point cloud data of target scene and real-time
Photomap.When solving the special screnes such as traditional vehicle-mounted mobile measuring system acquisition tunnel, since inertial navigation signal losing lock is led
Data precision is caused to lead to the problem of deviation.The probability that point cloud black hole is generated after avoiding signal from being blocked improves vehicle-mounted mobile survey
The reliability of the acquired data of amount system.
Fig. 2 be vehicle-mounted mobile measuring system provided in an embodiment of the present invention each module connection structure block diagram, referring to Fig.1 and
Fig. 2, the data processing equipment 6 include memory module 61 and processing module 62；
The memory module 61 is for storing single line laser radar 2, multi-line laser radar 3, inertial navigation system 4 and binocular
The data that camera 5 acquires, the processing module 62 are based on for obtaining the multi-line laser radar point cloud data and depth image
SLAM algorithm is handled, and the opposite point cloud data and real-time imaging map of target scene are obtained.
Content based on the above embodiment, as a kind of alternative embodiment, referring to Fig.1, the supporting mechanism includes steelframe
Platform 7, support platform 8 and support rod 9, the support platform 8 include planar structure and bevel structure, and the planar structure is close
One end of 1 headstock of collecting vehicle is vertically fixed the support rod 9, and single line laser radar 2, institute are equipped in the bevel structure
The top for stating support rod 9 is equipped with antenna 10.
Specifically, in the present embodiment, bevel structure and 1 top surface of collecting vehicle are in 45 degree of angles, can guarantee single line laser radar 2
Scanning visual angle, and be easily installed.
Content based on the above embodiment, as a kind of alternative embodiment, the multi-line laser radar 3 is horizontally placed on institute
State the top of support rod 9.
In the present embodiment, multi-line laser radar 3 is horizontally arranged at the top of support rod 9, from the ground height for 2.5~
4.5m.The laser beam of multi-line laser radar is issued in vertical direction along different angle, is equivalent to the plane of scanning motion at multiple inclination angles, because
This, the angular resolution of interior its more vertical direction of laser rays is higher in vertical field of view, and laser point cloud density is bigger, and imaging is got over
Clearly.
Content based on the above embodiment, as a kind of alternative embodiment, it is flat that the binocular camera 5 is fixedly installed in support
Platform is close to the side of 1 headstock of collecting vehicle, and the lens direction of the binocular camera 5 is parallel with 1 driving direction of collecting vehicle.This implementation
Binocular camera 5 is mounted on support platform close to the side of 1 headstock of collecting vehicle by example, and be arranged the lens direction of binocular camera 5 with
1 driving direction of collecting vehicle is parallel, so that the camera lens visual field of binocular camera 5 is all right, can accurately obtain 1 front mesh of collecting vehicle
Mark the depth image of scene.
Fig. 3 is the data processing method flow diagram of vehicle-mounted mobile measuring system provided in an embodiment of the present invention, such as Fig. 3
Shown, the present invention provides a kind of data processing method of vehicle-mounted mobile measuring system, comprising:
S1 acquires the multi-line laser radar point cloud data and depth image of target scene；
S2 is handled according to the multi-line laser radar point cloud data and depth image based on SLAM algorithm, and mesh is obtained
Mark the opposite point cloud data and real-time imaging map of scene.
Specifically, referring to Figure 1 and Figure 3, the multi-line laser radar point cloud number of target scene is acquired by multi-line laser radar 3
According to, pass through binocular camera 5 acquire target scene depth image.Wherein, acquired data are scanned by laser radar, i.e.,
For laser radar point cloud data.In the present embodiment, target scene refers to the road travelled by collecting vehicle 1 and road periphery object structure
At scene.
When the traveling of collecting vehicle 1 to the bad region such as long tunnel of inertial navigation signal, data processing equipment 6 obtains multi-thread
Laser radar point cloud data and depth image, according to the multi-line laser radar point cloud data that multi-line laser radar acquires, by swashing
The opposite point cloud data of light SLAM algorithm acquisition target scene.Wherein, the opposite point cloud data of target scene refers to target scene
In point cloud data relative to multi-line laser radar coordinate system of road and road periphery object.It is acquired according to binocular camera 5
Depth image obtains the real-time imaging map of target scene by vision SLAM algorithm.Wherein, SLAM (simultaneous
Localization and mapping) refer to positioning and map structuring immediately.
In the present embodiment, the processing step based on SLAM algorithm is specifically included: building local coordinate system, scanning obtain multi-thread
Laser point cloud data calculates the posture information for obtaining atural object in target scene, merges multi-thread laser point cloud data and posture information
Obtain the real-time imaging map of target scene.
It should be noted that traditional vehicle-mounted mobile measuring system is usually to be equipped with a single line or multi-thread sharp in collecting vehicle
Optical radar sensor is resolved by POS and obtains high accuracy three-dimensional point cloud data.However, the vehicle-mounted traverse measurement system of tradition is adopted
When collecting tunnel scene, due to acquiring signal long-time losing lock, cause the point cloud data precision obtained by way of POS resolving can not
It ensures, is unable to satisfy automatic Pilot accuracy requirement.And vehicle-mounted mobile measuring system provided by the invention, when collecting vehicle 1 travels extremely
When such as long tunnel of the bad region of inertial navigation signal, data processing equipment 6 obtains multi-line laser radar point cloud data and depth map
Picture obtains target scene by laser SLAM algorithm according to the multi-line laser radar point cloud data that multi-line laser radar acquires
Opposite point cloud data；According to the depth image that binocular camera 5 acquires, the real-time of target scene is obtained by vision SLAM algorithm
Photomap.It can be improved the reliability of the data of vehicle-mounted mobile measuring system acquisition.
The data processing method of vehicle-mounted mobile measuring system provided in an embodiment of the present invention, when collecting vehicle enters long tunnel etc.
When the extreme terrain of dtr signal, it is based at SLAM algorithm using the data that multi-line laser radar and binocular camera acquire
Reason, obtains the opposite point cloud data and real-time imaging map of target scene.Solves traditional vehicle-mounted mobile measuring system acquisition
When the special screnes such as tunnel, since inertial navigation signal losing lock causes data precision to lead to the problem of deviation.After avoiding signal from being blocked
The probability for generating point cloud black hole improves the reliability of the data of vehicle-mounted mobile measuring system acquisition.
Content based on the above embodiment, as a kind of alternative embodiment, referring to Fig.1, the work of vehicle-mounted mobile measuring system
When, inertial navigation system 4 obtains the POS data of collecting vehicle 1, inertial navigation system (INS, Inertial Navigation
System, abbreviation inertial navigation) it is a kind of independent of external information, also not to the autonomic navigation system of external radiation energy.Its
Working environment not only includes aerial, ground, can also be under water.The basic functional principle of inertial navigation is using Newton mechanics law as base
Plinth integrates it to the time, and it is transformed to navigational coordinate system by measurement carrier in the acceleration of inertial reference system
In, it will be able to obtain the information such as speed, yaw angle and the position in navigational coordinate system.Collecting vehicle 1 carries out on Ordinary Rd
When acquisition, POS resolving can be carried out according to the POS data of single line laser radar point cloud data and collecting vehicle 1, obtain target field
The three-dimensional point cloud of scape.
Content based on the above embodiment, as a kind of alternative embodiment, the acquisition multi-line laser radar point cloud data
And depth image, it is handled based on SLAM algorithm, opposite point cloud data and the real-time imaging map for obtaining target scene are specific
Include:
According to the multi-line laser radar point cloud data that multi-line laser radar acquires, target field is obtained by laser SLAM algorithm
The opposite point cloud data of scape obtains the reality of target scene by vision SLAM algorithm according to the depth image that binocular camera acquires
When photomap.
Specifically, the sensor being presently used on SLAM is broadly divided into two classes, the SLAM (laser based on laser radar
) and the SLAM of view-based access control model (Visual SLAM or VSLAM) SLAM.The collected object information of laser radar shows a system
Point that column disperse, with precise angle and range information, referred to as point cloud.In general, laser SLAM system by it is different when
Carve two panels point cloud matching and compare, calculating laser radar relative motion distance and posture change, also just complete to mesh
Mark the positioning of object.Texture information that vision SLAM can obtain magnanimity in target scene, being imbued with redundancy, possesses stronger
Scenery identification ability.The abundant texture information that vision SLAM can be utilized.Such as the two identical content of block size different advertisement
Board, the laser SLAM algorithm based on cloud cannot be distinguished from them, and vision can then be differentiated easily.This results in reorientations, field
The upper unrivaled huge advantage of scape classification.Meanwhile visual information can be relatively easy to be used to track and predict in scene
Dynamic object, such as pedestrian, vehicle.The projection model of vision can theoretically allow the object of unlimited distance all to enter vision picture
In face, (binocular cameras of such as Long baselines) can carry out the very positioning of large scale scene and map structuring under reasonable configuration.
The present embodiment obtains the opposite point cloud data of target scene by laser SLAM algorithm, is obtained by vision SLAM algorithm
Obtain the real-time imaging map of target scene.When collecting vehicle enters the extreme terrain of the dtr signals such as long tunnel, swashed using multi-thread
Optical radar and the data of binocular camera acquisition are based on SLAM algorithm and are handled, and obtain the opposite point cloud data and reality of target scene
When photomap.When solving the special screnes such as traditional vehicle-mounted mobile measuring system acquisition tunnel, due to inertial navigation signal losing lock
Data precision is caused to lead to the problem of deviation.The probability that point cloud black hole is generated after avoiding signal from being blocked, improves vehicle-mounted mobile
The reliability of the data of measuring system acquisition.
Fig. 4 is the data processing method flow diagram of vehicle-mounted mobile measuring system provided in an embodiment of the present invention, such as Fig. 4
It is shown, the data processing method of vehicle-mounted mobile measuring system further include:
S3 obtains the POS data of collecting vehicle by inertial navigation system；
S4 is based on revised POS according to the POS data of the corresponding point cloud data correction collecting vehicle of the target scene
Data carry out POS resolving to single line laser radar point cloud data and multi-line laser radar point cloud data, obtain the of target scene
One three dimensional point cloud.
It should be noted that the present embodiment corrects collecting vehicle 1 by the opposite point cloud data that laser SLAM algorithm obtains
POS data, can be improved the precision of POS data.Revised POS data are then based on to single line laser radar point cloud number
POS resolving is carried out according to multi-line laser radar point cloud data, the first three dimensional point cloud of target scene is obtained, improves vehicle-mounted
The data precision and reliability of traverse measurement system acquisition.
Referring to Fig. 4, after the first three dimensional point cloud for obtaining target scene, at the data of vehicle-mounted mobile measuring system
Reason method further comprises:
S5, by the three-dimensional point of the single line laser radar point cloud data, multi-line laser radar point cloud data and target scene
Cloud data fusion obtains the second three dimensional point cloud of target scene.
The embodiment of the present invention is by by single line laser radar point cloud data, multi-line laser radar point cloud data and target scene
Three dimensional point cloud fusion, the second three dimensional point cloud of target scene is obtained, wherein the data of the second three dimensional point cloud
Precision is higher than the first three dimensional point cloud.Further improve the data precision and reliability of the acquisition of vehicle-mounted mobile measuring system.
The embodiment of the present invention also provides a kind of non-transient computer readable storage medium, is stored thereon with computer program,
The computer program is implemented to carry out the image type conversion method of the various embodiments described above offer when being executed by processor, such as wraps
It includes: acquiring the multi-line laser radar point cloud data and depth image of target scene；Obtain the multi-line laser radar point cloud data
And depth image, it is handled based on SLAM algorithm, obtains the opposite point cloud data and real-time imaging map of target scene.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It realizes by means of software and necessary general hardware platform, naturally it is also possible to pass through hardware.Based on this understanding, on
Stating technical solution, substantially the part that contributes to existing technology can be embodied in the form of software products in other words, should
Computer software product may be stored in a computer readable storage medium, such as ROM/RAM, magnetic disk, CD, including several fingers
It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation
Method described in certain parts of example or embodiment.
It should be noted that relational terms such as first and second and the like are only in the description of the embodiment of the present invention
Only it is used to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying these realities
There are any actual relationship or orders between body or operation.The terms "include", "comprise" or its any other change
Body is intended to non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wrapped
Those elements are included, but also including other elements that are not explicitly listed, or further includes for this process, method, article
Or the element that equipment is intrinsic.The orientation or positional relationship of the instructions such as term " on ", "lower" is orientation based on the figure
Or positional relationship, it is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning
It must have a particular orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.Unless another
There is specific regulation and limits, term " installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected,
It may be a detachable connection, or be integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected,
The connection inside two elements can also be can be indirectly connected through an intermediary.For those of ordinary skill in the art
For, above-mentioned term can be understood in concrete meaning of the invention as the case may be.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of vehicle-mounted mobile measuring system, which is characterized in that including collecting vehicle, the supporting mechanism being set in collecting vehicle, with
And it is fixedly installed in single line laser radar, multi-line laser radar, inertial navigation system and binocular camera on the supporting mechanism,
Data processing equipment, the single line laser radar, multi-line laser radar, inertial navigation system and binocular are equipped in the collecting vehicle
Camera is connect with the data processing equipment respectively；
The single line laser radar is used to acquire the single line laser radar point cloud data of target scene, and the multi-line laser radar is used
In the multi-line laser radar point cloud data of acquisition target scene, the binocular camera is used to acquire the depth image of target scene,
The inertial navigation system is used to obtain the POS data of collecting vehicle；The data processing equipment obtains the multi-line laser radar
Point cloud data and depth image are handled based on SLAM algorithm, obtain the opposite point cloud data and real-time imaging of target scene
Map.
2. vehicle-mounted mobile measuring system according to claim 1, which is characterized in that the data processing equipment includes storage
Module and processing module；
The memory module is for storing single line laser radar, multi-line laser radar, inertial navigation system and binocular camera acquisition
Data, the processing module for obtaining the multi-line laser radar point cloud data and depth image, based on SLAM algorithm into
Row processing, obtains the opposite point cloud data and real-time imaging map of target scene.
3. vehicle-mounted mobile measuring system according to claim 1, which is characterized in that the supporting mechanism includes that steelframe is flat
Platform, support platform and support rod, the support platform include planar structure and bevel structure, and the planar structure is close to collecting vehicle
One end of headstock is vertically fixed the support rod, and single line laser radar is equipped in the bevel structure, the support rod
Top is equipped with antenna.
4. vehicle-mounted mobile measuring system according to claim 3, which is characterized in that the multi-line laser radar is horizontally disposed
In the top of the support rod.
5. vehicle-mounted mobile measuring system according to claim 3, which is characterized in that the binocular camera is fixedly installed in branch
Platform is supportted close to the side of collecting vehicle headstock, and the lens direction of the binocular camera is parallel with collecting vehicle driving direction.
6. a kind of data processing method of vehicle-mounted mobile measuring system characterized by comprising
Acquire the multi-line laser radar point cloud data and depth image of target scene；
It according to the multi-line laser radar point cloud data and depth image, is handled based on SLAM algorithm, obtains target scene
Opposite point cloud data and real-time imaging map.
7. data processing method according to claim 6, which is characterized in that the acquisition multi-line laser radar point cloud data
And depth image, it is handled based on SLAM algorithm, opposite point cloud data and the real-time imaging map for obtaining target scene are specific
Include:
According to the multi-line laser radar point cloud data that multi-line laser radar acquires, target scene is obtained by laser SLAM algorithm
Opposite point cloud data obtains the real-time shadow of target scene by vision SLAM algorithm according to the depth image that binocular camera acquires
As map.
8. data processing method according to claim 7, which is characterized in that the method also includes:
The POS data of collecting vehicle is obtained by inertial navigation system；
According to the POS data of the corresponding point cloud data correction collecting vehicle of the target scene, based on revised POS data to list
Line laser radar point cloud data and multi-line laser radar point cloud data carry out POS resolving, obtain the first three-dimensional point of target scene
Cloud data.
9. data processing method according to claim 8, which is characterized in that in the first three-dimensional point cloud for obtaining target scene
After data, the method further includes:
The three dimensional point cloud of the single line laser radar point cloud data, multi-line laser radar point cloud data and target scene is melted
It closes, obtains the second three dimensional point cloud of target scene.
10. a kind of non-transient computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer
The method as described in claim 6 to 9 is any is realized when program is executed by processor.
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