CN112034476A - Point cloud data generation method based on laser radar - Google Patents
Point cloud data generation method based on laser radar Download PDFInfo
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- CN112034476A CN112034476A CN202010857902.2A CN202010857902A CN112034476A CN 112034476 A CN112034476 A CN 112034476A CN 202010857902 A CN202010857902 A CN 202010857902A CN 112034476 A CN112034476 A CN 112034476A
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000004590 computer program Methods 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 2
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- 241001442234 Cosa Species 0.000 description 5
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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
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
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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
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
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Abstract
The invention discloses point cloud data based on a laser radar, which relates to the technical field of unmanned driving, and is characterized in that a current position point of the laser radar is used as an origin point of a three-dimensional coordinate system, the laser radar arranged on a vehicle is used for emitting laser, the distance between the vehicle and an object is calculated in real time, according to the angle of the laser emitted by the laser radar in the vertical direction, a coordinate value of the current position point of the object on the Z axis of the three-dimensional coordinate system is obtained, according to the included angle between a line segment formed by a projection point and the origin point and the X axis, a coordinate value of the current position point of the object on the X axis of the three-dimensional coordinate system and a coordinate value on the Y axis of the three-dimensional coordinate system are respectively obtained, a coordinate point of the current position point of the object under the three-dimensional coordinate system is obtained, and according to the coordinate point cloud, the method makes a key step for promoting the development of the automatic driving technology.
Description
Technical Field
The invention relates to the technical field of unmanned driving, in particular to a point cloud data generation method based on a laser radar.
Background
The automatic driving is a future development trend of the automobile industry and is also an air port of the internet of vehicles, no matter automobile manufacturers, operators or internet enterprises seize the air port, but the automatic driving threshold is high, the technology is complex and is closely related to life, so that the safety of the automatic driving is extremely important, and the generation of point cloud data by utilizing the laser radar is an important ring in the automatic driving. At present, the automatic driving technology is still in a development stage, is not mature enough, and has no related point cloud data generation method.
Disclosure of Invention
In order to overcome the defects in the prior art, the embodiment of the invention provides a point cloud data generation method based on a laser radar, which comprises the following steps:
taking the current position point of the laser radar as the origin of a three-dimensional coordinate system;
the method comprises the steps that laser is emitted by a laser radar installed on a vehicle, the distance between the vehicle and an object is calculated in real time, and the coordinate value of a current position point of the object on the Z axis of a three-dimensional coordinate system is obtained according to the angle of the laser emitted by the laser radar in the vertical direction;
obtaining the distance between the projection point of the object on the XOY plane and the origin according to the distance between the vehicle and the object and the angle of the laser emitted by the laser radar in the vertical direction;
respectively obtaining coordinate values of a current position point of the object on an X axis and coordinate values of the current position point of the object on a Y axis of a three-dimensional coordinate system according to an included angle between a line segment formed by the projection point and the origin and the X axis;
obtaining a coordinate point of a position point where the object is located currently in a three-dimensional coordinate system according to the calculation result;
repeating the steps to respectively obtain coordinate points of the current position points of all objects around the vehicle in the three-dimensional coordinate system;
and generating laser radar point cloud data according to the coordinate points of the current position points of the objects under the three-dimensional coordinate system.
Preferably, the angle of the laser light emitted by the lidar in the vertical direction is fixed.
Preferably, an included angle between a line segment formed by the projection point and the origin and the X axis is a current rotating horizontal angle of the laser radar, and the current rotating horizontal angle of the laser radar is variable for objects at different positions.
The laser radar point cloud generation method provided by the embodiment of the invention has the following beneficial effects:
the coordinates of all objects around the vehicle are generated through the laser radar, and point cloud data are generated according to the coordinates of all the objects, so that a key step is provided for promoting the development of an automatic driving technology.
Drawings
Fig. 1 is a schematic flow chart of a method for generating point cloud data based on a laser radar according to an embodiment of the present invention;
fig. 2 is a geometric schematic diagram of a laser radar-based point cloud data generation method in a three-dimensional coordinate system according to an embodiment of the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and the embodiments.
As shown in fig. 1 and fig. 2, the method for generating point cloud data based on a lidar according to an embodiment of the present invention includes the following steps:
s101, taking a current position point of the laser radar as an origin O of a three-dimensional coordinate system;
s102, transmitting laser by using a laser radar installed on a vehicle, calculating the distance between the vehicle and an object A in real time, and obtaining the coordinate value of the current position point of the object A on the Z axis of a three-dimensional coordinate system, namely distance multiplied by sina, according to the angle a of the laser transmitted by the laser radar in the vertical direction;
s103, obtaining a projection point O of the object A on the XOY plane according to the distance between the vehicle and the object A and the angle a of the laser emitted by the laser radar in the vertical direction^Distance x cosa from the origin O;
s104, OO according to the line segment^The coordinate value of the current position point of the object A on the X axis of the three-dimensional coordinate system is distance multiplied by cosa multiplied by cosb, and the coordinate value on the Y axis of the three-dimensional coordinate system is distance multiplied by cosa multiplied by sinb;
s105, obtaining a coordinate point (distance multiplied by cosa multiplied by cosb, distance multiplied by cosa multiplied by sinb, distance multiplied by sina) of the current position point of the object A in the three-dimensional coordinate system;
s106, repeating the steps S101-S105, and respectively obtaining coordinate points of the current position points of all objects around the vehicle in the three-dimensional coordinate system;
and S107, generating laser radar point cloud data according to the coordinate points of the objects in the three-dimensional coordinate system.
Optionally, the angle a of the laser light emitted by the lidar in the vertical direction is fixed.
Optionally, line segment OO^The included angle b between the horizontal angle b and the X axis is the current rotating horizontal angle of the laser radar, and the current rotating horizontal angle of the laser radar can be changed aiming at objects at different positions.
The point cloud data based on the laser radar provided by the embodiment of the invention is obtained by taking the current position point of the laser radar as the origin of a three-dimensional coordinate system, emitting laser by using the laser radar arranged on a vehicle, calculating the distance between the vehicle and an object in real time, obtaining the coordinate value of the current position point of the object on the Z axis of the three-dimensional coordinate system according to the angle of the laser emitted by the laser radar in the vertical direction, obtaining the distance between the projection point of the object on an XOY plane and the origin according to the distance between the vehicle and the object and the angle of the laser emitted by the laser radar in the vertical direction, respectively obtaining the coordinate value of the current position point of the object on the X axis of the three-dimensional coordinate system and the coordinate value of the current position point of the object on the Y axis of the three-dimensional coordinate system according to the included angle between the line segment formed by the projection point and the origin and the X axis, and repeating the steps to respectively obtain coordinate points of the current position points of all objects around the vehicle under the three-dimensional coordinate system, and generating laser radar point cloud data according to the coordinate points of the current position points of all the objects under the three-dimensional coordinate system, thereby taking a key step for promoting the development of the automatic driving technology.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (5)
1. A point cloud data generation method based on laser radar is characterized by comprising the following steps:
taking a current position point of the laser radar as an origin of a three-dimensional coordinate system;
the method comprises the steps that laser is emitted by a laser radar installed on a vehicle, the distance between the vehicle and an object is calculated in real time, and the coordinate value of a current position point of the object on the Z axis of a three-dimensional coordinate system is obtained according to the angle of the laser emitted by the laser radar in the vertical direction;
obtaining the distance between the projection point of the object on the XOY plane and the origin according to the distance between the vehicle and the object and the angle of the laser emitted by the laser radar in the vertical direction;
respectively obtaining coordinate values of a current position point of the object on an X axis and coordinate values of the current position point of the object on a Y axis of a three-dimensional coordinate system according to an included angle between a line segment formed by the projection point and the origin and the X axis;
obtaining a coordinate point of a position point where the object is located currently in a three-dimensional coordinate system according to the calculation result;
repeating the steps to respectively obtain coordinate points of the current position points of all objects around the vehicle in the three-dimensional coordinate system;
and generating laser radar point cloud data according to the coordinate points of the current position points of the objects under the three-dimensional coordinate system.
2. The lidar based point cloud data generation method of claim 1, wherein an angle of a laser emitted from the lidar in a vertical direction is fixed.
3. The lidar-based point cloud data generation method according to claim 1, wherein an included angle between a line segment formed by the projection point and the origin and the X-axis is a currently rotated horizontal angle of the lidar, and the currently rotated horizontal angle of the lidar is variable for objects at different positions.
4. A computer program product, characterized in that the computer program product comprises a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions that, when executed by a computer, cause the computer to perform the method of claim 1.
5. A non-transitory computer-readable storage medium storing computer instructions that cause a computer to perform the method of claim 1.
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| CN202010857902.2A CN112034476A (en) | 2020-08-24 | 2020-08-24 | Point cloud data generation method based on laser radar |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105277949A (en) * | 2014-07-21 | 2016-01-27 | 北京自动化控制设备研究所 | Three-dimensional imaging laser radar system |
| CN206248832U (en) * | 2016-12-01 | 2017-06-13 | 武汉万集信息技术有限公司 | A kind of three-dimensional millimeter wave laser radar detection device based on automatic Pilot |
| CN106997049A (en) * | 2017-03-14 | 2017-08-01 | 奇瑞汽车股份有限公司 | A kind of method and apparatus of the detection barrier based on laser point cloud data |
| CN108398696A (en) * | 2018-02-09 | 2018-08-14 | 深圳市砝石激光雷达有限公司 | Multi-thread rotary laser radar installations |
| CN108535736A (en) * | 2017-03-05 | 2018-09-14 | 苏州中德睿博智能科技有限公司 | Three dimensional point cloud acquisition methods and acquisition system |
| CN108983248A (en) * | 2018-06-26 | 2018-12-11 | 长安大学 | It is a kind of that vehicle localization method is joined based on the net of 3D laser radar and V2X |
| CN110986756A (en) * | 2018-10-03 | 2020-04-10 | 赫克斯冈技术中心 | Ambient geometry 3D scanning measurement device with multiple transmission channels and semiconductor photomultiplier sensors |
-
2020
- 2020-08-24 CN CN202010857902.2A patent/CN112034476A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105277949A (en) * | 2014-07-21 | 2016-01-27 | 北京自动化控制设备研究所 | Three-dimensional imaging laser radar system |
| CN206248832U (en) * | 2016-12-01 | 2017-06-13 | 武汉万集信息技术有限公司 | A kind of three-dimensional millimeter wave laser radar detection device based on automatic Pilot |
| CN108535736A (en) * | 2017-03-05 | 2018-09-14 | 苏州中德睿博智能科技有限公司 | Three dimensional point cloud acquisition methods and acquisition system |
| CN106997049A (en) * | 2017-03-14 | 2017-08-01 | 奇瑞汽车股份有限公司 | A kind of method and apparatus of the detection barrier based on laser point cloud data |
| CN108398696A (en) * | 2018-02-09 | 2018-08-14 | 深圳市砝石激光雷达有限公司 | Multi-thread rotary laser radar installations |
| CN108983248A (en) * | 2018-06-26 | 2018-12-11 | 长安大学 | It is a kind of that vehicle localization method is joined based on the net of 3D laser radar and V2X |
| CN110986756A (en) * | 2018-10-03 | 2020-04-10 | 赫克斯冈技术中心 | Ambient geometry 3D scanning measurement device with multiple transmission channels and semiconductor photomultiplier sensors |
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