CN110940994A - Positioning initialization method and system thereof - Google Patents
Positioning initialization method and system thereof Download PDFInfo
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- CN110940994A CN110940994A CN201811121022.8A CN201811121022A CN110940994A CN 110940994 A CN110940994 A CN 110940994A CN 201811121022 A CN201811121022 A CN 201811121022A CN 110940994 A CN110940994 A CN 110940994A
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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
Abstract
The present disclosure provides a positioning initialization method for positioning an initial position and an initial course angle of an object, including: acquiring laser point cloud of the current environment of the object through a laser radar arranged on the object; segmenting a plurality of blocks corresponding to a plurality of line segments obtained by dividing a preset moving line of an object based on a point cloud map constructed in advance, wherein different blocks correspond to different sub-map point clouds; drawing up a plurality of initial poses based on sub-map point clouds corresponding to the blocks; and matching the laser point cloud with a plurality of proposed initial poses to position and initialize the object. The present disclosure also provides a positioning initialization system, a computer system, and a computer-readable storage medium.
Description
Technical Field
The present disclosure relates to the field of internet technologies, and in particular, to a method and a system for positioning initialization, a computer system, and a computer-readable storage medium.
Background
In recent years, unmanned technology, particularly outdoor unmanned vehicles, has gained increasing importance in e-commerce and take-away distribution. Lidar is a relatively robust positioning technology commonly used in unmanned vehicles.
In the process of implementing the concept of the present disclosure, the inventors found that at least the following problems exist in the related art: the existing laser radar positioning technology can complete positioning initialization only by means of third parties such as a GPS satellite and a magnetic compass, under the condition, if no GPS signal exists or the GPS signal is shielded by a building, a large error exists in positioning, and the magnetic compass is easy to interfere outdoors, so that the large error also exists in positioning.
Disclosure of Invention
In view of the above, the present disclosure provides a positioning initialization method and a positioning initialization system capable of implementing the method, and a computer system and a computer-readable storage medium.
One aspect of the present disclosure provides a positioning initialization method for positioning an initial position and an initial heading angle of an object, including: acquiring laser point cloud of the current environment of the object through a laser radar arranged on the object; segmenting a plurality of blocks corresponding to a plurality of line segments obtained by dividing a predetermined moving line of the object based on a point cloud map constructed in advance, wherein different blocks correspond to different sub-map point clouds; drawing up a plurality of initial poses based on the sub-map point clouds corresponding to the blocks; and matching the laser point cloud with the plurality of proposed initial poses to position and initialize the object.
According to an embodiment of the present disclosure, the formulating a plurality of initial poses based on the sub-map point clouds corresponding to the plurality of blocks includes: determining a center point of each block based on the sub-map point clouds corresponding to the plurality of blocks; and setting a plurality of course angles for each central point to draw up the initial poses.
According to an embodiment of the present disclosure, the segmenting a plurality of blocks corresponding to a plurality of line segments obtained by dividing a predetermined moving route of the object based on a point cloud map constructed in advance includes: acquiring the point cloud map and the preset mobile line; dividing the predetermined moving path into a plurality of line segments; determining a center point of each of the plurality of line segments; and dividing the point cloud of the point cloud map based on each central point to obtain corresponding blocks.
According to an embodiment of the present disclosure, the segmenting the point cloud of the point cloud map based on each central point to obtain a corresponding block includes: and dividing the points, the distances between which and the central point of the point cloud map are smaller than a first threshold value, into a block.
According to an embodiment of the present disclosure, the dividing, for each central point, a point in the point cloud of the point cloud map, whose distance from the central point is smaller than a first threshold into one block includes: dividing the point cloud of the point cloud map into a line characteristic point cloud and a surface characteristic point cloud; dividing, for each central point, a point in the line feature point cloud whose distance from the central point is smaller than the first threshold value into one block; and for each central point, dividing the point in the surface feature point cloud, the distance between which and the central point is less than the first threshold value, into the block; the matching of the laser point cloud and the plurality of proposed initial poses includes: dividing the laser point cloud into a line characteristic laser point cloud and a surface characteristic laser point cloud; and respectively matching the line characteristic laser point cloud and the surface characteristic laser point cloud with the plurality of proposed initial poses.
Another aspect of the present disclosure provides a positioning initialization system for positioning an initial position and an initial heading angle of an object, comprising: the acquisition module is used for acquiring laser point cloud of the current environment of the object through a laser radar arranged on the object; a segmentation module for segmenting a plurality of blocks corresponding to a plurality of line segments obtained by dividing a predetermined moving line of the object based on a pre-constructed point cloud map, wherein different blocks correspond to different sub-map point clouds; the drawing-out module is used for drawing out a plurality of initial poses based on the sub-map point clouds corresponding to the blocks; and the matching module is used for matching the laser point cloud with the plurality of proposed initial poses so as to position and initialize the object.
According to an embodiment of the present disclosure, the above-mentioned drafting module includes: a first determination unit configured to determine a center point of each block based on a sub-map point cloud corresponding to the plurality of blocks; and the setting unit is used for setting a plurality of course angles for each central point so as to draw up the plurality of initial poses.
According to an embodiment of the present disclosure, the above-mentioned segmentation module includes: an acquisition unit, configured to acquire the point cloud map and the predetermined moving route; a first dividing unit configured to divide the predetermined moving line into a plurality of line segments; a second determining unit configured to determine a center point of each of the plurality of line segments; and the second segmentation unit is used for segmenting the point cloud of the point cloud map based on each central point to obtain corresponding blocks.
According to an embodiment of the present disclosure, the second dividing unit is further configured to: and dividing the points, the distances between which and the central point of the point cloud map are smaller than a first threshold value, into a block.
According to an embodiment of the present disclosure, the second dividing unit includes: a dividing subunit, configured to divide the point cloud of the point cloud map into a line feature point cloud and a surface feature point cloud; a first dividing subunit configured to divide, for each central point, a point in the line feature point cloud, whose distance from the central point is smaller than the first threshold, into one block; and a second segmentation subunit, configured to, for each central point, segment, into the block, a point in the point cloud of the surface feature whose distance from the central point is smaller than the first threshold; the matching module comprises: the dividing unit is used for dividing the laser point cloud into a line characteristic laser point cloud and a surface characteristic laser point cloud; and the matching unit is used for respectively matching the line characteristic laser point cloud and the surface characteristic laser point cloud with the plurality of proposed initial poses.
Another aspect of the present disclosure provides a computer system comprising: one or more processors; a memory for storing one or more programs, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to perform the method as described above.
Another aspect of the present disclosure provides a non-volatile storage medium storing computer-executable instructions for implementing the method as described above when executed.
Another aspect of the disclosure provides a computer program comprising computer executable instructions for implementing the method as described above when executed.
According to the embodiment of the disclosure, because the technical means of setting up a plurality of initial poses according to the preset moving line of the object for positioning initialization is adopted, the technical problems that the existing positioning initialization needs a third party, and the positioning initialization error is large due to no GPS signal or the GPS signal is shielded or the magnetic compass is interfered and the like are at least partially overcome, and the technical effects that the third party does not need to be used and the positioning initialization error is small are further achieved.
Drawings
The above and other objects, features and advantages of the present disclosure will become more apparent from the following description of embodiments of the present disclosure with reference to the accompanying drawings, in which:
fig. 1 schematically illustrates an exemplary system architecture to which the positioning initialization method and system thereof of the present disclosure may be applied;
fig. 2 schematically illustrates a flow chart of a method of position location initialization according to an embodiment of the present disclosure;
fig. 3 schematically illustrates an application scenario of a positioning initialization method according to an embodiment of the present disclosure;
fig. 4 schematically illustrates an application scenario of a positioning initialization method according to another embodiment of the present disclosure;
FIG. 5 schematically illustrates a flow chart for pose determination according to an embodiment of the present disclosure;
fig. 6 schematically shows a schematic diagram of a partitioned block according to an embodiment of the present disclosure;
fig. 7 schematically illustrates a block diagram of a positioning initialization system according to an embodiment of the present disclosure;
FIG. 8 schematically illustrates a block diagram of a drafting module according to an embodiment of the present disclosure;
FIG. 9 schematically illustrates a block diagram of a segmentation module according to an embodiment of the present disclosure; and
fig. 10 schematically illustrates a block diagram of a computer system suitable for implementing a method of location initialization according to an embodiment of the present disclosure.
Detailed Description
Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. It should be understood that the description is illustrative only and is not intended to limit the scope of the present disclosure. In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the disclosure. It may be evident, however, that one or more embodiments may be practiced without these specific details. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present disclosure.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The terms "comprises," "comprising," and the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.
All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It is noted that the terms used herein should be interpreted as having a meaning that is consistent with the context of this specification and should not be interpreted in an idealized or overly formal sense.
Where a convention analogous to "at least one of A, B and C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a system having at least one of A, B and C" would include but not be limited to systems that have a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.). Where a convention analogous to "A, B or at least one of C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a system having at least one of A, B or C" would include but not be limited to systems that have a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.). It will be further understood by those within the art that virtually any disjunctive word and/or phrase presenting two or more alternative terms, whether in the description, claims, or drawings, should be understood to contemplate the possibilities of including one of the terms, either of the terms, or both terms. For example, the phrase "a or B" should be understood to include the possibility of "a" or "B", or "a and B".
The embodiment of the disclosure provides a positioning initialization method and a positioning initialization system capable of realizing the method. The method comprises the steps of obtaining laser point cloud of the current environment of an object through a laser radar arranged on the object; segmenting a plurality of blocks corresponding to a predetermined moving line of the object based on the point cloud map, wherein different blocks correspond to different sub-map point clouds; drawing up a plurality of initial poses based on sub-map point clouds corresponding to the blocks; and matching the laser point cloud with a plurality of proposed initial poses to position and initialize the object.
Fig. 1 schematically shows an exemplary system architecture to which the positioning initialization method and system thereof of the present disclosure can be applied. It should be noted that fig. 1 is only an example of a system architecture to which the embodiments of the present disclosure may be applied to help those skilled in the art understand the technical content of the present disclosure, and does not mean that the embodiments of the present disclosure may not be applied to other devices, systems, environments or scenarios.
As shown in fig. 1, the system architecture according to this embodiment may include terminal devices 101, 102, 103, a network 104 and a server 105, and a mobile device 106 (e.g., an unmanned vehicle). Network 104 is the medium used to provide communication links between terminal equipment 101, 102, 103 and server 105, and between terminal equipment 101, 102, 103 and mobile device 106, and between server 105 and mobile device 106. Network 104 may include various connection types, such as wired and/or wireless communication links, and so forth.
The user may use the terminal devices 101, 102, 103 to interact with the server 105 via the network 104 to receive or send messages or the like. Various communication client applications may be installed on the terminal devices 101, 102, 103.
The terminal devices 101, 102, 103 may be various electronic devices having a display screen, including but not limited to smart phones, tablet computers, laptop portable computers, desktop computers, and the like.
The server 105 may be a server providing various services, such as a background management server (for example only) providing support for users working with the terminal devices 101, 102, 103. The background management server may analyze and perform other processing on the received data such as the user request, and feed back a processing result (e.g., a webpage, information, or data obtained or generated according to the user request) to the terminal device.
It should be noted that the positioning initialization method provided by the embodiment of the present disclosure may be generally executed by the server 105. Accordingly, the positioning initialization system provided by the embodiments of the present disclosure may be generally disposed in the server 105. The positioning initialization method provided by the embodiments of the present disclosure may also be performed by a server or a server cluster different from the server 105 and capable of communicating with the terminal devices 101, 102, 103 and/or the server 105. Accordingly, the positioning initialization system provided by the embodiment of the present disclosure may also be disposed in a server or a server cluster different from the server 105 and capable of communicating with the terminal devices 101, 102, 103 and/or the server 105. Alternatively, the positioning initialization method provided by the embodiment of the present disclosure may also be executed by the terminal device 101, 102, or 103, or may also be executed by another terminal device different from the terminal device 101, 102, or 103. Accordingly, the positioning initialization system provided by the embodiment of the present disclosure may also be disposed in the terminal device 101, 102, or 103, or in another terminal device different from the terminal device 101, 102, or 103.
It should be understood that the number of terminal devices, networks, and servers in fig. 1 is merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for implementation.
Fig. 2 schematically shows a flow chart of a positioning initialization method according to an embodiment of the present disclosure.
As shown in FIG. 2, the method for locating an initial position and an initial heading angle of an object includes operations S201 to S204.
In operation S201, a laser point cloud of an environment where an object is currently located is acquired through a laser radar set on the object.
In the disclosed embodiment, the object may include, but is not limited to, an unmanned vehicle (also referred to as an unmanned vehicle), and its application field may include application to the fields of e-commerce and take-away as an unmanned delivery vehicle. The present disclosure will be explained in detail below by taking an unmanned vehicle as an example.
Further, the technique used by the lidar is time of flight (TOF). Specifically, the relative distance between the target and the laser is calculated from the turn-back time of the laser after the laser encounters an obstacle. The laser beam can accurately measure the relative distance between the edge of the outline of the object in the view field and the equipment, the outline information forms a so-called point cloud and draws a 3D environment map, and the precision can reach the centimeter level, so that the measurement precision can be improved. The laser radar also has unique advantages, such as extremely high distance resolution and angle resolution, high speed resolution, wide speed measurement range, capability of obtaining various images of a target, strong anti-interference capability and the like. This enables the lidar to accurately measure target position (range and angle), motion state (velocity, vibration and attitude) and shape, detect, identify, resolve and track targets.
Taking an unmanned vehicle as an example, in the process of positioning initialization, laser scanning is performed on the surrounding environment (including trees, buildings and the like) of the unmanned vehicle through a laser radar, so as to obtain corresponding laser point clouds.
In operation S202, a plurality of blocks corresponding to a plurality of line segments obtained by dividing a predetermined moving line of the object are segmented based on a pre-constructed point cloud map, wherein different blocks correspond to different sub-map point clouds.
In the embodiment of the disclosure, a three-dimensional point cloud map of a scene is pre-constructed based on positioning of a laser radar in a specific scene.
In operation S203, a plurality of initial poses are formulated based on the sub-map point clouds corresponding to the plurality of blocks.
In an embodiment of the present disclosure, the initial pose may include an initial position and an initial heading angle.
Taking an unmanned vehicle as an example, as shown in fig. 3, assuming that the unmanned vehicle is responsible for the delivery task of transporting a certain goods from a place a to a place B, the unmanned vehicle may divide the road section AB into a plurality of blocks, select corresponding points from the point cloud corresponding to each block, and further determine the coordinate positions of the points as the proposed initial positions. And, since the AB road segment has no inflection point, for each initial position, the heading angle corresponding to the forward trip may be set to 0 °, and the heading angle corresponding to the backward trip may be set to 180 °.
In addition, assuming that the delivery task undertaken by the unmanned vehicle at this time is to transport a certain goods from the a place to the B place, and the inflection point C exists in the AB road section, for each initial position in the AC road section, the heading angle corresponding to the departure distance may be set to 0 °, the heading angle corresponding to the return distance may be set to 180 °, and for each initial position in the CB road section, the heading angle corresponding to the departure distance may be set to an angle corresponding to the C-to-B direction, and the heading angle corresponding to the return distance may be set to an angle corresponding to the B-to-C direction.
In operation S204, the laser point cloud is matched with the plurality of proposed initial poses to perform positioning initialization on the object.
Specifically, taking an unmanned vehicle as an example, when ICP matching (i.e., iterative closest point matching) is performed on the laser point cloud and each proposed initial pose, within fixed iteration times of n times, if ICP iteration is considered to be completed when the final ICP increment update is smaller than a predetermined threshold, the pose at this time is accumulated as the initial pose of the unmanned vehicle; conversely, if the country final ICP incremental update is greater than the predetermined threshold, the initialization is deemed to have failed, and an attempt is made to match the next initial position and initial heading angle until less than the threshold is met. If the two can not be met, the initialization is failed.
It should be noted that, after the positioning initialization is completed, the subsequent positioning process can be faster on the basis of the initialization result.
In addition, the positioning initialization scheme based on the point cloud map mainly comprises a hardware layer, a data layer and an algorithm layer, wherein the hardware layer mainly comprises a laser radar module and a main processor module; the data layer mainly comprises point cloud data, a point cloud map (comprising a line feature map and a surface feature map), and the algorithm layer mainly completes positioning initialization of the unmanned vehicle on the basis of the point cloud map through global positioning initialization.
Compared with the prior art that the positioning initialization can be finished only by utilizing the initial poses provided by a third party such as a GPS satellite and a magnetic compass in the laser radar positioning, and the large error exists, the embodiment of the invention at least partially overcomes the technical problems that the existing positioning initialization needs the third party, and the positioning initialization error is large because no GPS signal or GPS signal is shielded or the magnetic compass is interfered and the like, and further achieves the technical effects that the third party is not needed and the positioning initialization error is small.
The method shown in fig. 2 is further described with reference to fig. 4-6 in conjunction with specific embodiments.
Except for the application scenario shown in fig. 3, the predetermined movement path of an unmanned vehicle is generally less regular in general. For example, fig. 4 schematically illustrates an application scenario of the positioning initialization method according to another embodiment of the present disclosure. As shown in fig. 4, the AB segment bends, and if one or several initial course angles are set for each initial position according to the rule described in the above embodiment, it is very likely to cause inaccurate positioning initialization and even failure of positioning initialization.
To overcome the above-mentioned drawbacks, fig. 5 schematically shows a flowchart of formulating an initial pose according to an embodiment of the present disclosure.
As an alternative embodiment, as shown in fig. 5, the step S203 of formulating a plurality of initial poses based on the sub-map point clouds corresponding to the plurality of blocks includes steps S501 and S502, in which:
in operation S501, a center point of each tile is determined based on a sub-map point cloud corresponding to the plurality of tiles.
Wherein, determining the center point of each block includes, but is not limited to, taking the geometric center of each block as the center point of the corresponding block.
In operation S502, a plurality of heading angles are set for each center point to formulate a plurality of initial poses.
For example, traversing all the blocks, respectively planning the center P [ i ] of each block as the initial position of the lidar, respectively taking 0 °, 30 °, 60 °, 90 °, 120 °, 150 °, 180 °, 210 °, 240 °, 270 °, 300 °, and 330 ° (i.e., every 30 °) as a set of initial heading angles of each initial position, respectively, performing ICP matching using the initial positions and the initial heading angles, and further finding the increment of each ICP iteration.
Through the embodiment of the disclosure, a plurality of initial course angles are set for each central point, namely each initial position, so that the initial pose of the object can be more accurately positioned.
As an alternative embodiment, segmenting a plurality of blocks corresponding to a plurality of line segments obtained by dividing a predetermined moving line of an object based on a point cloud map constructed in advance includes: acquiring a point cloud map and a preset mobile line; dividing a predetermined moving line into a plurality of line segments; determining a center point of each of a plurality of line segments; and dividing the point cloud of the point cloud map based on each central point to obtain corresponding blocks.
For example, fig. 6 schematically illustrates a schematic diagram of dividing a block according to an embodiment of the present disclosure, as shown in fig. 6, assuming that a line L in a point cloud map is a route scheduled to be moved by an unmanned vehicle this time, when the block is divided, the line L may be equally divided into m segments according to a length k, where each segment length Δ L is an average length and total length/total segment number, that is, Δ L is k/m, m is a positive integer, and furthermore, a central point of each segment is a geometric center thereof, as shown in fig. O1，O2，O3，O4，O5… …. As shown in fig. 6, m is 8, a segment is located between two small black dots, and the large black dot on each segment represents the center of the segment.
In addition, in the embodiment of the present disclosure, the center point of each line segment may be taken as the center point of the corresponding block.
Further, as an optional embodiment, segmenting the point cloud of the point cloud map based on each central point to obtain corresponding blocks includes: for each central point, the points in the point cloud of the point cloud map, the distance between which and the central point is smaller than a first threshold value, are divided into a block.
Based on the embodiment, after the central point of each line segment in the line is determined, the position coordinate P [ i ] of the central point of each line segment is obtained from the point cloud map]And then dividing the points in the point cloud map, the distances between which and the central points are less than a first threshold (such as 1), into a block taking the central point as the center based on the position coordinates. For example, for center point O1All the points in the point cloud map can be reached to a central point O1Is divided into points with a distance smaller than a first threshold value1Within a block at the center.
Through the embodiment of the disclosure, the corresponding blocks are segmented based on the central point of each line segment in the line, so that the position of the object can be more accurately positioned.
Further, as an optional embodiment, segmenting, for each central point, a point of the point cloud map, whose distance from the central point is smaller than the first threshold value, into one block includes: dividing point clouds of the point cloud map into line characteristic point clouds and surface characteristic point clouds; dividing points, the distance between which and the central point of the line characteristic point cloud is smaller than a first threshold value, into a block for each central point; and for each central point, also dividing a point in the point cloud of surface features, the distance between which and the central point is less than a first threshold value, into the block; correspondingly, matching the laser point cloud with a plurality of proposed initial poses comprises: dividing the laser point cloud into a line characteristic laser point cloud and a surface characteristic laser point cloud; and respectively matching the line characteristic laser point cloud and the surface characteristic laser point cloud with a plurality of formulated initial poses.
It should be noted that the map point cloud may be classified based on features, and considering that buildings are generally in a surface structure, and trees and the like are in a line structure, the map point cloud may be divided into a line feature point cloud (corresponding to a line point cloud map) and a surface feature point cloud (corresponding to a surface point cloud map) based on these geometric structural features. Accordingly, when the block is divided, the line feature point cloud and the surface feature point cloud may be divided, respectively.
In addition, similar to the map point cloud which can be divided into point clouds with different features, the laser point cloud obtained by the laser radar can also be divided into line feature laser point cloud and surface feature laser point cloud. Specifically, the laser point cloud may be divided into a line characteristic laser point cloud and a surface characteristic laser point cloud according to a curvature threshold, where the line characteristic laser point cloud is determined when the actual curvature is smaller than the curvature threshold, and the line characteristic laser point cloud is determined when the actual curvature is larger than the curvature threshold. The laser point cloud is data representing the surroundings of an object such as an unmanned vehicle, and includes data of each frame scanned by the laser radar. The curvature here is defined as the rotation rate of the tangential angle to the arc length at a certain point on the curve, defined by the differential, indicating the degree to which the curve deviates from a straight line. The laser point cloud is composed of a plurality of points represented by three-dimensional coordinates, if the curvature calculated by a part of the points according to the coordinates is very small (such as close to 0), the points are regarded as surface characteristic points, and the rest are line characteristic points.
After the point cloud map and the laser point cloud are divided, the ICP matching may be feature-based matching, that is, ICP matching that becomes point-to-line and point-to-surface.
Through the embodiment of the disclosure, the map point cloud is segmented based on the characteristics, and the laser point cloud is segmented based on the corresponding characteristics, so that trees and buildings around the object can be distinguished conveniently, and the object can be positioned and initialized conveniently.
Fig. 7 schematically illustrates a block diagram of a positioning initialization system according to an embodiment of the present disclosure.
As shown in fig. 7, the positioning initialization system 700 includes an acquisition module 701, a segmentation module 702, a drafting module 703 and a matching module 704.
The acquisition module 701 is used for acquiring laser point cloud of the current environment of the object through a laser radar arranged on the object;
a segmentation module 702, configured to segment a plurality of blocks corresponding to a plurality of line segments obtained by dividing a predetermined moving route of an object based on a pre-constructed point cloud map, where different blocks correspond to different sub-map point clouds;
a pose-drawing module 703 for drawing up a plurality of initial poses based on the sub-map point clouds corresponding to the plurality of blocks; and
and the matching module 704 is used for matching the laser point cloud with a plurality of proposed initial poses so as to position and initialize the object.
Compared with the prior art that the positioning initialization can be finished only by utilizing the initial poses provided by a third party such as a GPS satellite and a magnetic compass in the laser radar positioning, and the large error exists, the embodiment of the invention at least partially overcomes the technical problems that the existing positioning initialization needs the third party, and the positioning initialization error is large because no GPS signal or GPS signal is shielded or the magnetic compass is interfered and the like, and further achieves the technical effects that the third party is not needed and the positioning initialization error is small.
As an alternative embodiment, as shown in fig. 8, the drafting module 703 includes: a first determining unit 801 configured to determine a center point of each block based on a sub-map point cloud corresponding to the plurality of blocks; and a setting unit 802, configured to set a plurality of heading angles for each central point, so as to formulate the plurality of initial poses.
Through the embodiment of the disclosure, a plurality of initial course angles are set for each central point, namely each initial position, so that the initial pose of the object can be more accurately positioned.
As an alternative embodiment, as shown in fig. 9, the segmentation module 702 includes: an obtaining unit 901, configured to obtain the point cloud map and the predetermined moving route; a first dividing unit 902 for dividing the predetermined moving line into a plurality of line segments; a second determining unit 903, configured to determine a center point of each of the plurality of line segments; and a second dividing unit 904, configured to divide the point cloud of the point cloud map based on each central point to obtain a corresponding block.
Further, as an optional embodiment, the second dividing unit is further configured to: for each central point, partitioning the points in the point cloud of the point cloud map, the distance between which and the central point is smaller than a first threshold value, into a block.
Through the embodiment of the disclosure, the corresponding blocks are segmented based on the central point of each line segment in the line, so that the position of the object can be more accurately positioned.
Further, as an alternative embodiment, the second dividing unit includes: a dividing subunit, configured to divide the point cloud of the point cloud map into a line feature point cloud and a surface feature point cloud; a first dividing subunit, configured to divide, for each central point, a point in the line feature point cloud whose distance from the central point is smaller than the first threshold into one block; the second segmentation subunit is used for segmenting points, with the distance between the points and the central point of the surface feature point cloud being smaller than the first threshold value, into the block aiming at each central point; the matching module includes: the dividing unit is used for dividing the laser point cloud into a line characteristic laser point cloud and a surface characteristic laser point cloud; and the matching unit is used for respectively matching the line characteristic laser point cloud and the surface characteristic laser point cloud with the plurality of proposed initial poses.
Through the embodiment of the disclosure, the map point cloud is segmented based on the characteristics, and the laser point cloud is segmented based on the corresponding characteristics, so that trees and buildings around the object can be distinguished conveniently, and the object can be positioned and initialized conveniently.
Any of the modules, units, sub-units, or at least part of the functionality of any of them according to embodiments of the present disclosure may be implemented in one module. Any one or more of the modules, units and sub-units according to the embodiments of the present disclosure may be implemented by being split into a plurality of modules. Any one or more of the modules, units, sub-units according to the embodiments of the present disclosure may be implemented at least partially as a hardware circuit, such as a Field Programmable Gate Array (FPGA), a Programmable Logic Array (PLA), a system on a chip, a system on a substrate, a system on a package, an Application Specific Integrated Circuit (ASIC), or may be implemented in any other reasonable manner of hardware or firmware by integrating or packaging a circuit, or in any one of three implementations of software, hardware, and firmware, or in any suitable combination of any of them. Alternatively, one or more of the modules, units, sub-units according to embodiments of the disclosure may be at least partially implemented as computer program modules, which, when executed, may perform the corresponding functions.
For example, any plurality of the obtaining module 701, the dividing module 702, the formulating module 703 and the matching module 704 may be combined into one module/unit/sub-unit to be implemented, or any one of the modules/units/sub-units may be split into a plurality of modules/units/sub-units. Alternatively, at least part of the functionality of one or more of these modules/units/sub-units may be combined with at least part of the functionality of other modules/units/sub-units and implemented in one module/unit/sub-unit. According to an embodiment of the present disclosure, at least one of the obtaining module 701, the dividing module 702, the formulating module 703 and the matching module 704 may be implemented at least partially as a hardware circuit, such as a Field Programmable Gate Array (FPGA), a Programmable Logic Array (PLA), a system on a chip, a system on a substrate, a system on a package, an Application Specific Integrated Circuit (ASIC), or may be implemented by hardware or firmware in any other reasonable manner of integrating or packaging a circuit, or implemented by any one of three implementations of software, hardware and firmware, or any suitable combination of any of them. Alternatively, at least one of the obtaining module 701, the segmentation module 702, the formulating module 703 and the matching module 704 may be at least partly implemented as a computer program module, which when executed may perform a corresponding function.
It should be noted that, the system part in the embodiment of the present disclosure corresponds to the method part in the embodiment of the present disclosure, and the description of the system part specifically refers to the method part, which is not described herein again.
Another aspect of the present disclosure provides a computer system comprising: one or more processors; a memory for storing one or more programs, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to perform the method as described above.
Another aspect of the present disclosure provides a non-volatile storage medium storing computer-executable instructions for implementing the method as described above when executed.
Fig. 10 schematically illustrates a block diagram of a computer system suitable for implementing a method of location initialization according to an embodiment of the present disclosure. The computer system illustrated in FIG. 10 is only one example and should not impose any limitations on the scope of use or functionality of embodiments of the disclosure.
As shown in fig. 10, a computer system 1000 according to an embodiment of the present disclosure includes a processor 1001 that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM)1002 or a program loaded from a storage section 1008 into a Random Access Memory (RAM) 1003. Processor 1001 may include, for example, a general purpose microprocessor (e.g., a CPU), an instruction set processor and/or associated chipset, and/or a special purpose microprocessor (e.g., an Application Specific Integrated Circuit (ASIC)), among others. The processor 1001 may also include onboard memory for caching purposes. The processor 1001 may include a single processing unit or multiple processing units for performing different actions of a method flow according to embodiments of the present disclosure.
In the RAM1003, various programs and data necessary for the operation of the system 1000 are stored. The processor 1001, ROM1002, and RAM1003 are connected to each other by a bus 1004. The processor 1001 performs various operations of the method flow according to the embodiments of the present disclosure by executing programs in the ROM1002 and/or the RAM 1003. Note that the programs may also be stored in one or more memories other than the ROM1002 and the RAM 1003. The processor 1001 may also perform various operations of the method flows according to embodiments of the present disclosure by executing programs stored in the one or more memories.
According to embodiments of the present disclosure, method flows according to embodiments of the present disclosure may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable storage medium, the computer program containing program code for performing the method illustrated by the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication part 1009 and/or installed from the removable medium 1011. The computer program performs the above-described functions defined in the system of the embodiment of the present disclosure when executed by the processor 1001. The systems, devices, apparatuses, modules, units, etc. described above may be implemented by computer program modules according to embodiments of the present disclosure.
The present disclosure also provides a computer-readable storage medium, which may be contained in the apparatus/device/system described in the above embodiments; or may exist separately and not be assembled into the device/apparatus/system. The computer readable medium carries one or more programs which, when executed, implement the method according to an embodiment of the disclosure.
According to embodiments of the present disclosure, a computer-readable storage medium may be a computer-readable signal medium or a computer-readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present disclosure, a computer-readable signal medium may include a propagated data signal with computer-readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable storage medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable storage medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, optical fiber cable, radio frequency signals, etc., or any suitable combination of the foregoing.
For example, according to embodiments of the present disclosure, a computer-readable storage medium may include the ROM1002 and/or the RAM1003 described above and/or one or more memories other than the ROM1002 and the RAM 1003.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Those skilled in the art will appreciate that various combinations and/or combinations of features recited in the various embodiments and/or claims of the present disclosure can be made, even if such combinations or combinations are not expressly recited in the present disclosure. In particular, various combinations and/or combinations of the features recited in the various embodiments and/or claims of the present disclosure may be made without departing from the spirit or teaching of the present disclosure. All such combinations and/or associations are within the scope of the present disclosure.
The embodiments of the present disclosure have been described above. However, these examples are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although the embodiments are described separately above, this does not mean that the measures in the embodiments cannot be used in advantageous combination. The scope of the disclosure is defined by the appended claims and equivalents thereof. Various alternatives and modifications can be devised by those skilled in the art without departing from the scope of the present disclosure, and such alternatives and modifications are intended to be within the scope of the present disclosure.
Claims (12)
1. A positioning initialization method for positioning an initial position and an initial heading angle of an object, comprising:
acquiring laser point cloud of the current environment of the object through a laser radar arranged on the object;
segmenting a plurality of blocks corresponding to a plurality of line segments obtained by dividing a predetermined moving line of the object based on a pre-constructed point cloud map, wherein different blocks correspond to different sub-map point clouds;
drawing up a plurality of initial poses based on sub-map point clouds corresponding to the plurality of blocks; and
and matching the laser point cloud with the plurality of proposed initial poses to position and initialize the object.
2. The method of claim 1, wherein said formulating a plurality of initial poses based on a sub-map point cloud corresponding to the plurality of tiles comprises:
determining a center point for each block based on a sub-map point cloud corresponding to the plurality of blocks; and
and setting a plurality of course angles for each central point to draw up the plurality of initial poses.
3. The method of claim 1, wherein the segmenting a plurality of blocks corresponding to a plurality of line segments obtained by dividing a predetermined moving line of the object based on a pre-constructed point cloud map comprises:
acquiring the point cloud map and the preset mobile line;
dividing the predetermined movement line into a plurality of line segments;
determining a center point of each of the plurality of line segments; and
and partitioning the point cloud of the point cloud map based on each central point to obtain corresponding blocks.
4. The method of claim 3, wherein the segmenting the point cloud of the point cloud map into corresponding tiles based on each center point comprises:
for each central point, dividing the point of the point cloud map, the distance between which and the central point is less than a first threshold value, into a block.
5. The method of claim 4, wherein the segmenting, for each center point, points in the point cloud of the point cloud map having a distance from the center point that is less than a first threshold into a block comprises:
dividing the point cloud of the point cloud map into a line characteristic point cloud and a surface characteristic point cloud;
dividing points in the line characteristic point cloud, the distance between which and the central point is smaller than the first threshold value, into a block by aiming at each central point; and
for each central point, dividing the point, with the distance between the point cloud of the surface feature and the central point being less than the first threshold value, into the block;
the matching the laser point cloud with the plurality of proposed initial poses comprises:
dividing the laser point cloud into a line characteristic laser point cloud and a surface characteristic laser point cloud; and
and respectively matching the line characteristic laser point cloud and the surface characteristic laser point cloud with the plurality of formulated initial poses.
6. A position initialization system for locating an initial position and an initial heading angle of an object, comprising:
the acquisition module is used for acquiring laser point cloud of the current environment of the object through a laser radar arranged on the object;
a segmentation module for segmenting a plurality of blocks corresponding to a plurality of line segments obtained by dividing a predetermined moving line of the object based on a pre-constructed point cloud map, wherein different blocks correspond to different sub-map point clouds;
a pose generation module for generating a plurality of initial poses based on the sub-map point clouds corresponding to the plurality of blocks; and
and the matching module is used for matching the laser point cloud with the plurality of proposed initial poses so as to position and initialize the object.
7. The system of claim 6, wherein the drafting module comprises:
a first determination unit configured to determine a center point of each block based on a sub-map point cloud corresponding to the plurality of blocks; and
and the setting unit is used for setting a plurality of course angles for each central point so as to draw up the plurality of initial poses.
8. The system of claim 6, wherein the segmentation module comprises:
an acquisition unit, configured to acquire the point cloud map and the predetermined moving route;
a first dividing unit configured to divide the predetermined moving line into a plurality of line segments;
a second determining unit configured to determine a center point of each of the plurality of line segments; and
and the second segmentation unit is used for segmenting the point cloud of the point cloud map based on each central point to obtain corresponding blocks.
9. The system of claim 8, wherein the second segmentation unit is further to:
for each central point, dividing the point of the point cloud map, the distance between which and the central point is less than a first threshold value, into a block.
10. The system of claim 9, wherein the second segmentation unit comprises:
the dividing subunit is used for dividing the point cloud of the point cloud map into a line characteristic point cloud and a surface characteristic point cloud;
a first dividing subunit, configured to divide, for each central point, a point, in the line feature point cloud, whose distance from the central point is smaller than the first threshold into one block; and
a second segmentation subunit, configured to, for each central point, segment, into the block, a point in the point cloud of surface features whose distance from the central point is smaller than the first threshold;
the matching module includes:
the dividing unit is used for dividing the laser point cloud into a line characteristic laser point cloud and a surface characteristic laser point cloud; and
and the matching unit is used for respectively matching the line characteristic laser point cloud and the surface characteristic laser point cloud with the plurality of proposed initial poses.
11. A computer system, comprising:
one or more processors;
a memory for storing one or more programs,
wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 1-5.
12. A computer readable storage medium having stored thereon executable instructions which, when executed by a processor, cause the processor to carry out the method of any one of claims 1 to 5.
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