CN110749895B - 一种基于激光雷达点云数据的定位方法 - Google Patents
一种基于激光雷达点云数据的定位方法 Download PDFInfo
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- CN110749895B CN110749895B CN201911337485.2A CN201911337485A CN110749895B CN 110749895 B CN110749895 B CN 110749895B CN 201911337485 A CN201911337485 A CN 201911337485A CN 110749895 B CN110749895 B CN 110749895B
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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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
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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
- 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
- G01S7/4804—Auxiliary means for detecting or identifying lidar signals or the like, e.g. laser illuminators
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
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- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Optical Radar Systems And Details Thereof (AREA)
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CN111397594B (zh) * | 2020-03-20 | 2021-10-15 | 广东博智林机器人有限公司 | 一种全局初始化定位方法、装置、电子设备及存储介质 |
CN111612841B (zh) * | 2020-06-22 | 2023-07-14 | 上海木木聚枞机器人科技有限公司 | 目标定位方法及装置、移动机器人及可读存储介质 |
CN115248430B (zh) * | 2021-09-23 | 2023-08-25 | 上海仙途智能科技有限公司 | 目标物体的定位方法、装置、终端及介质 |
CN115330969A (zh) * | 2022-10-12 | 2022-11-11 | 之江实验室 | 一种用于地面无人车的局部静态环境矢量化描述方法 |
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KR101778028B1 (ko) * | 2010-12-20 | 2017-09-13 | 삼성전자주식회사 | 로봇 및 로봇의 경로 생성 방법 |
US9062983B2 (en) * | 2013-03-08 | 2015-06-23 | Oshkosh Defense, Llc | Terrain classification system for a vehicle |
CN103969656A (zh) * | 2014-05-08 | 2014-08-06 | 北京数字绿土科技有限公司 | 基于机载激光雷达的建筑物建模方法和装置 |
CN109345620B (zh) * | 2018-08-13 | 2022-06-24 | 浙江大学 | 融合快速点特征直方图的改进icp待测物体点云拼接方法 |
CN110148144B (zh) * | 2018-08-27 | 2024-02-13 | 腾讯大地通途(北京)科技有限公司 | 点云数据的分割方法和装置、存储介质、电子装置 |
CN110187348A (zh) * | 2019-05-09 | 2019-08-30 | 盈科视控(北京)科技有限公司 | 一种激光雷达定位的方法 |
CN110389590B (zh) * | 2019-08-19 | 2022-07-05 | 杭州电子科技大学 | 一种融合2d环境地图和稀疏人工地标的agv定位系统及方法 |
CN110530368B (zh) * | 2019-08-22 | 2021-06-15 | 浙江华睿科技有限公司 | 一种机器人定位方法及设备 |
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