CN111587383A - 应用于测距装置的反射率校正方法、测距装置 - Google Patents

应用于测距装置的反射率校正方法、测距装置 Download PDF

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CN111587383A
CN111587383A CN201880014852.2A CN201880014852A CN111587383A CN 111587383 A CN111587383 A CN 111587383A CN 201880014852 A CN201880014852 A CN 201880014852A CN 111587383 A CN111587383 A CN 111587383A
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real
reflectivity
detection point
value
cloud queue
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陈涵
张富
洪小平
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N21/47—Scattering, i.e. diffuse reflection
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N21/55—Specular reflectivity
    • 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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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Immunology (AREA)
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  • Analytical Chemistry (AREA)
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  • General Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

一种应用于测距装置的反射率校正方法、测距装置。一种应用于测距装置的反射率校正方法包括：获取包含当前探测点的实时点云队列；所述当前探测点的数据中包括初始反射率；根据所述实时点云队列获取所述当前探测点的入射角；根据所述入射角校正所述初始反射率，得到所述当前探测点校正后的反射率。本实施例通过对探测点的反射率进行校正，有利于提高后续计算结果的准确度，尤其是车载应用场景，可以减少事故的发生。并且，本实施例中实时点云队列的探测点数量相对较少，可以降低校正过程所需要的存储空间和计算资源，降低校正过程的时延，尤其适用于在线校正的应用场景。

Description

PCT国内申请，说明书已公开。

Claims (39)

  1. PCT国内申请，权利要求书已公开。
CN201880014852.2A 2018-11-30 2018-11-30 应用于测距装置的反射率校正方法、测距装置 Pending CN111587383A (zh)

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WO2023004628A1 (zh) * 2021-07-28 2023-02-02 深圳市速腾聚创科技有限公司 反射率校正方法、装置、计算机可读存储介质及终端设备

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JP2009270847A (ja) * 2008-04-30 2009-11-19 Canon Inc 反射率測定装置および反射率測定方法
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WO2023004628A1 (zh) * 2021-07-28 2023-02-02 深圳市速腾聚创科技有限公司 反射率校正方法、装置、计算机可读存储介质及终端设备

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