CN112305520A - Method and device for correcting detection position of reflecting column of single laser radar - Google Patents
Method and device for correcting detection position of reflecting column of single laser radar Download PDFInfo
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Abstract
The invention provides a method and a device for correcting the detection position of a reflective column of a single laser radar, which relate to the technical field of positioning and comprise the following steps: the method comprises the steps of firstly determining the scanning time of a reflective column according to original scanning data of a single laser radar and the initial position of the reflective column detection, then calculating a radar pose estimation value of the single laser radar at the scanning time of the reflective column based on a radar pose prediction value of the single laser radar at the initial time of a current scanning period, and finally correcting the initial position of the reflective column detection based on the radar pose estimation value at the scanning time of the reflective column to obtain a corrected position of the reflective column detection. The method solves the technical problems of large detection position error and low positioning precision of the reflective column in the moving state of the vehicle, and achieves the effects of enhancing the robustness of the anti-positioning and improving the positioning precision.
Description
Technical Field
The invention relates to the technical field of positioning, in particular to a method and a device for correcting a detection position of a reflecting column of a single laser radar.
Background
An Automatic Guided Vehicle (AGV) is an industrial Vehicle that loads goods in an automatic or manual manner, automatically travels or pulls a loading trolley to a designated location according to a set route, and then loads and unloads the goods in an automatic or manual manner. As a transport tool in automatic production, navigation and positioning of an AGV are very important, and a laser navigation based on a reflective column (or called flyback navigation) is widely applied to a forklift AGV due to the advantages of high positioning accuracy, relatively low maintenance cost and installation cost, high path planning flexibility and the like.
The process of positioning with anti-laser radar can be divided into several stages in sequence: reflection column detection, reflection column matching or reflection column tracking, radar pose calculation and the like. The authenticity of the reflective column extracted by the reflective column detection algorithm and the accuracy of the position coordinate of the reflective column directly determine the positioning accuracy and robustness of the laser radar, and are a crucial step in the positioning process. However, in the existing anti-laser radar positioning method, the detection position error of the reflective column is large and the positioning accuracy is low in the vehicle moving state.
Disclosure of Invention
The invention aims to provide a method and a device for correcting the detection position of a reflective column of a single laser radar, so as to solve the technical problems of large detection position error and low positioning precision of the reflective column in a vehicle moving state in the prior art.
In a first aspect, an embodiment of the present invention provides a method for correcting a detection position of a reflective column of a single laser radar, where the method includes:
determining the scanning time of the reflective column according to the original scanning data of the single laser radar and the initial position of the reflective column detection;
calculating a radar pose estimation value of the single laser radar at the reflecting column scanning time based on a radar pose prediction value of the single laser radar at the starting time of the current scanning period;
and correcting the initial detection position of the reflective column based on the radar pose estimation value to obtain a detection corrected position of the reflective column.
In some possible embodiments, before the step of determining the scanning time of the reflective column according to the raw scanning data of the single laser radar and the initial position of the reflective column detection, the method further includes: acquiring original scanning data of the single laser radar; processing the original scanning data by using a reflective column detection algorithm to determine a reflective column detection initial position; and the initial detection position of the reflective column comprises the angle information of the detected reflective column.
In some possible embodiments, the raw scan data includes a reflection intensity of the single lidar scan point and a distance of the scan point from the single lidar; processing the original scanning data by using a reflective column detection algorithm to determine a reflective column detection initial position, wherein the reflective column detection initial position comprises the following steps: and processing the reflection intensity of the scanning point of the single laser radar and the distance between the scanning point and the single laser radar by using a reflection column detection algorithm, and determining the initial position coordinate of the reflection column detection.
In some possible embodiments, the raw scan data includes: a scanning start angle of the single laser radar and a scanning period of the single laser radar; the method comprises the following steps of determining the scanning time of the reflective column according to the original scanning data of the single laser radar and the initial position of the reflective column detection, wherein the steps comprise: and determining the scanning time of the reflective column based on the scanning starting angle of the single laser radar, the scanning period of the single laser radar and the coordinates of the detection initial position of the reflective column.
In some possible embodiments, before the step of calculating the radar pose estimation value of the single laser radar at the reflective column scanning time based on the radar pose prediction value of the single laser radar at the starting time of the current scanning period, the method further includes: calculating first position and attitude information of the single laser radar at a first moment and second position and attitude information of the single laser radar at a second moment based on a reflective column positioning algorithm; and determining the radar pose prediction value of the single laser radar at the starting moment of the current scanning period based on the first pose information and the second pose information.
In some possible embodiments, a time period between the first time and a start time of a current scanning cycle is a first time period, and a time period between the second time and the first time is a second time period; the length of the second period is equal to the length of the first period.
In some possible embodiments, the step of correcting the initial reflective column detection position based on the radar pose estimation value at the reflective column scanning time to obtain a reflective column detection corrected position includes: acquiring a radar local coordinate of a detection initial position of a reflective column within the scanning time of the reflective column; determining a first conversion matrix from a global coordinate system to a radar local coordinate system based on the radar pose estimation value at the reflecting column scanning moment; determining a second conversion matrix from the global coordinate system to a radar local coordinate system based on the radar pose prediction value at the starting moment of the current scanning period; and converting the radar local coordinate of the initial detection position of the reflective column in the scanning moment of the reflective column into the radar local coordinate of the initial scanning moment of the current scanning period based on the first conversion matrix and the second conversion matrix.
In a second aspect, an embodiment of the present invention provides an apparatus for correcting a detection position of a reflective column of a single laser radar, where the apparatus includes:
the determining module is used for determining the scanning time of the reflective column according to the original scanning data of the single laser radar and the initial position of the reflective column detection;
the calculation module is used for calculating a radar pose estimation value of the single laser radar at the reflecting column scanning time based on a radar pose prediction value of the single laser radar at the starting time of the current scanning period;
and the position correction module is used for correcting the initial position of the reflective column detection based on the radar pose estimation value to obtain a reflective column detection corrected position.
In a third aspect, an embodiment of the present invention provides an electronic device, including a memory and a processor, where the memory stores a computer program operable on the processor, and the processor implements the steps of the method according to any one of the first aspect when executing the computer program.
In a fourth aspect, embodiments of the present invention provide a computer readable storage medium storing machine executable instructions which, when invoked and executed by a processor, cause the processor to perform the method of any of the first aspects.
The invention provides a method and a device for correcting the detection position of a reflective column of a single laser radar, wherein the method comprises the following steps: the method comprises the steps of firstly determining the scanning time of a reflective column according to original scanning data of a single laser radar and the initial position of the reflective column detection, then calculating a radar pose estimation value of the single laser radar at the scanning time of the reflective column based on a radar pose prediction value of the single laser radar at the initial time of a current scanning period, and finally correcting the initial position of the reflective column detection based on the radar pose estimation value at the scanning time of the reflective column to obtain a corrected position of the reflective column detection.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic flowchart of a method for correcting a detection position of a reflective column of a single laser radar according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of a method for determining a radar pose prediction value of a single laser radar according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a device for correcting a detection position of a reflective column of a single laser radar according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
An Automatic Guided Vehicle (AGV) is an industrial Vehicle that loads goods in an automatic or manual manner, automatically travels or pulls a loading trolley to a designated location according to a set route, and then loads and unloads the goods in an automatic or manual manner. As a transport tool in automatic production, navigation and positioning of an AGV are very important, and common industrial AGV navigation and positioning modes include magnetic navigation, natural navigation, landmark navigation, laser navigation and the like. The laser navigation based on the reflective column (or called flyback navigation) is widely applied to the AGV of the forklift due to the advantages of high positioning precision, relatively low maintenance cost and installation cost, high path planning flexibility and the like.
The process of positioning with anti-laser radar can be divided into several stages in sequence: reflection column detection, reflection column matching or reflection column tracking, radar pose calculation and the like. The original scanning data are the reflection intensity (intensity) of a laser radar scanning point and the distance (range) from the laser radar, and after the processor receives the original scanning data of the laser radar, a reflection column detection algorithm detects and obtains position coordinates of candidate reflection columns from the original data for subsequent processing steps. The authenticity of the reflective column extracted by the reflective column detection algorithm and the accuracy of the position coordinate of the reflective column directly determine the positioning accuracy and robustness of the laser radar, and are a crucial step in the positioning process.
Because the laser radar is usually arranged on the movable chassis, and a certain time is spent in the scanning process of the laser radar, when the chassis moves in a working space, the position of the reflective column obtained from the single scanning result of the laser radar needs to be corrected, so that a higher-precision position detection result of the reflective column is ensured to be obtained in the moving state of the chassis, and the method is used for the subsequent reflective column matching or reflective column tracking, radar pose resolving and other steps in reverse positioning. Under the condition that scanning cannot be considered as instantaneous, the greater the radar movement speed is, the greater the detection position error of the reflecting column is, and the final robustness of anti-positioning becomes worse, the accuracy is reduced, and even the positioning fails.
Based on the above, the embodiment of the invention provides a method and a device for correcting the detection position of a reflective column of a single laser radar, and the method can be used for relieving the technical problems of large detection position error and low positioning accuracy of the reflective column in a vehicle moving state in the prior art. To facilitate understanding of the present embodiment, first, a detailed description is given of a method for correcting a detected position of a reflective column of a single laser radar disclosed in the embodiment of the present invention, referring to a schematic flow chart of the method for correcting a detected position of a reflective column of a single laser radar shown in fig. 1, where the method may be executed by an electronic device and mainly includes the following steps S110 to S130:
s110, determining the scanning time of the reflective column according to the original scanning data of the single laser radar and the initial position of the reflective column detection;
wherein, original scanning data is produced by laser radar scanning, sets up a plurality of scanning points in the scanning process, and this original scanning data includes: the reflection intensity of the scanning point of the single laser radar and the distance between the scanning point and the single laser radar.
The raw scan data may further include: the scanning start angle of the single lidar and the scanning period of the single lidar, and thus, in some embodiments, the reflective pillar scanning time may be determined based on the scanning start angle of the single lidar, the scanning period of the single lidar and the coordinates of the reflective pillar detection initial position.
The initial detection position of the reflective column is the initial position of the reflective column detected in the scanning process of the single laser radar, and the initial detection position of the reflective column can be obtained by processing original scanning data by using a reflective column detection algorithm. The initial detection position of the reflective column comprises angle information of the detected reflective column.
The scanning time of the reflective column, namely the scanning time of the reflective column by the single laser radar, when the number of the reflective columns in the scanning path is more than one, the scanning time of the reflective column is also more than one, namely each reflective column corresponds to one reflective column scanning time.
S120, calculating a radar pose estimation value of the single laser radar at the reflecting column scanning time based on the radar pose prediction value of the single laser radar at the starting time of the current scanning period;
the radar position and the radar pose comprise position information and angle information of a radar, the position information of the radar position and the radar pose can be obtained according to a rectangular coordinate value under a radar coordinate system, and the angle information of the radar position and the radar pose can be obtained according to a polar coordinate system under the radar coordinate system. The predicted value of the radar pose can be determined according to the radar pose variation of the current scanning period.
And S130, correcting the initial detection position of the reflective column based on the radar pose estimation value to obtain a detection corrected position of the reflective column.
The embodiment provides a method for correcting the detection position of a reflective column of a single laser radar, which comprises the following steps: the method comprises the steps of firstly determining the scanning time of a reflective column according to original scanning data of a single laser radar and the initial position of the reflective column detection, then calculating a radar pose estimation value of the single laser radar at the scanning time of the reflective column based on a radar pose prediction value of the single laser radar at the initial time of a current scanning period, and finally correcting the initial position of the reflective column detection based on the radar pose estimation value at the scanning time of the reflective column to obtain a corrected position of the reflective column detection.
In order to acquire the original scanning data for determining the scanning time of the reflective column, before the step S110, the method may further include:
step A: acquiring original scanning data of a single laser radar;
and B: processing the original scanning data by using a reflective column detection algorithm to determine a reflective column detection initial position;
the original scanning data comprise the reflection intensity of a single laser radar scanning point and the distance between the scanning point and the single laser radar; the reflective pillar detection initial position includes angle information of the detected reflective pillar.
Further, the step of processing the original scanning data by using a reflective column detection algorithm to determine the initial position of the reflective column detection comprises the following steps: and processing the reflection intensity of the scanning point of the single laser radar and the distance between the scanning point and the single laser radar by using a reflection column detection algorithm, and determining the detection initial position coordinate of the reflection column.
In order to obtain the radar pose prediction value, in some embodiments, referring to fig. 2, the method further includes, before step S120:
s210, calculating first position and attitude information of the single laser radar at a first moment and second position and attitude information of the single laser radar at a second moment based on a reflective column positioning algorithm;
and S220, determining the radar pose prediction value of the single laser radar at the starting moment of the current scanning period based on the first pose information and the second pose information.
The time period between the first moment and the starting moment of the current scanning period is a first time period, and the time period between the second moment and the first moment is a second time period; the length of the second period is equal to the length of the first period.
In some embodiments, the step S130 includes:
and C: acquiring a radar local coordinate of a detection initial position of the reflective column within a reflective column scanning moment;
step D: determining a first conversion matrix from a global coordinate system to a radar local coordinate system based on a radar pose estimation value at the scanning moment of the reflective column;
step E: determining a second conversion matrix from the global coordinate system to a radar local coordinate system based on the radar pose predicted value at the starting moment of the current scanning period;
step F: and based on the first conversion matrix and the second conversion matrix, converting the radar local coordinate of the initial position of the reflective column detection in the reflective column scanning time into the radar local coordinate of the current scanning period starting time.
As a specific example, an embodiment of the present application provides a method for correcting a reflection column detection position of a single laser radar, where the method includes:
1. calculating the radar pose variation of the single laser radar in the current scanning period;
(1) assume that the scanning start time of the current scanning period is tkTwo moments before this moment (first moment t)k-1And a second time tk-2) The radar position and orientation information can be calculated according to the counter-positioning algorithm and respectively recorded as
And
note:
(2) the acceleration of the carrier for mounting the radar is assumed to be small when the carrier moves, i.e. the carrier can be considered to do the same motion in adjacent scanning periods, i.e. the carrier moves at tk-1To tkMovement within a time interval and at tk-2To tk-1The movement in the time interval is kept unchanged;
(3) then the radar pose variation in the current scanning period is:
2. calculating radar pose estimated values of all the reflective columns detected in the current scanning period at the scanning moment;
recording the starting time of the current scanning period as tkStarting angle of radar scan (in radar coordinate system) is rhostartWith a scanning period of TscanDetecting m reflecting columns, and expressing the rectangular coordinate of each reflecting column in a radar coordinate system as
The polar coordinates in the radar coordinate system are expressed as
(1) Calculating the scanning time of each reflecting column
For the ith detected reflective column, the scanning time of the reflective column can be obtained through the polar angle, the radar scanning starting angle, the scanning period and other information
Estimated value of (a):
(2) calculating the radar pose estimation value of each reflective column at the scanning time;
for the ith detected reflective column, the scanning time of the reflective column
The radar pose estimation value is as follows:
wherein, the positionpred(tk) For the start time (t) of the current detection periodk) The radar pose prediction value can be obtained through a first-order Eulerian method:
(3) correcting the position of each reflecting column
And correcting the detection result (coordinates under a radar coordinate system) of the reflective columns according to the estimated value of the radar pose at the scanning time of each reflective column estimated in the previous step.
For the ith detected reflective column, the local coordinate before correction is
Setting the corrected local coordinate as
All the detected positions of the reflective columns are directed to tkTime of day correction alignment, then tkThe transformation matrix from the global coordinate system to the radar local coordinate system at the moment is:
time of scanning of reflective column
The transformation matrix from the global coordinate system to the radar local coordinate system is:
since the coordinates of the detected reflective columns are unchanged in the global coordinate system at two moments, the following relationship holds:
namely:
and (3) knowing:
then there are:
thereby obtaining the corrected local coordinate of the ith reflecting column
The other detected positions of the reflecting columns can be obtained by the same method.
According to the method for correcting the detection position of the reflective column of the single laser radar, the detection position of the reflective column can be corrected only by using the information of the single laser radar, a more accurate correction result can be obtained without providing radar motion information by other sensors, and the method is convenient and fast to implement; the method utilizes the laser radar pose estimation in the previous scanning period to recur to obtain the predicted value of the radar motion information in the current scanning period, and under the assumption that the laser radar has small acceleration, the method is enough to obtain a better predicted value and has low calculation amount;
in addition, the method solves the scanning time of each reflective column by utilizing the angle coordinate of each reflective column in the original detection result, the timestamp of the original data of the laser radar, the radar scanning initial angle and the radar scanning period, and has small calculation amount; further reducing the calculation amount of radar pose estimation at the reflecting column detection time.
The principle that the coordinates of the reflecting columns at all times are unchanged in the global coordinate system is utilized, the positions of the reflecting columns are corrected to be at the same time through the conversion matrix, and the calculated amount is small; the corrected positions of the reflecting columns are aligned in time, so that the method can be used for improving the pose calculation accuracy of subsequent reflecting column matching or reflecting column tracking and inverse positioning, and improving the robustness of the algorithm in high-speed operation of the radar.
The correction algorithm is independent of a reflective column detection algorithm, can be independently debugged and optimized in performance, can be selected to be started or not according to whether the radar moves at a high speed or not, and is used for balancing the relation between the overall calculation speed of the reverse positioning and the positioning precision.
The embodiment of the present application still provides a single laser radar's reflection of light post detection position's correcting unit, refer to fig. 3, and the device includes:
the determining module 310 is configured to determine a reflective column scanning time according to original scanning data of the single laser radar and the reflective column detection initial position;
the calculation module 320 is configured to calculate a radar pose estimation value of the single laser radar at the reflective column scanning time based on a radar pose prediction value of the single laser radar at the starting time of the current scanning period;
and the position correction module 330 is configured to correct the initial reflective column detection position based on the radar pose estimation value, so as to obtain a reflective column detection corrected position.
The device for correcting the detection position of the reflection column of the single laser radar can be specific hardware on equipment or software or firmware installed on the equipment. The device provided by the embodiment of the present application has the same implementation principle and technical effect as the foregoing method embodiments, and for the sake of brief description, reference may be made to the corresponding contents in the foregoing method embodiments where no part of the device embodiments is mentioned. It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the foregoing systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. The correction device for the detection position of the reflective column of the single laser radar provided by the embodiment of the application has the same technical characteristics as the correction method for the detection position of the reflective column of the single laser radar provided by the embodiment, so that the same technical problems can be solved, and the same technical effect is achieved.
The embodiment of the application further provides an electronic device, and specifically, the electronic device comprises a processor and a storage device; the storage means has stored thereon a computer program which, when executed by the processor, performs the method of any of the above described embodiments.
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application, where the electronic device 400 includes: a processor 40, a memory 41, a bus 42 and a communication interface 43, wherein the processor 40, the communication interface 43 and the memory 41 are connected through the bus 42; the processor 40 is arranged to execute executable modules, such as computer programs, stored in the memory 41.
The memory 41 may include a high-speed Random Access Memory (RAM) and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory. The communication connection between the network element of the system and at least one other network element is realized through at least one communication interface 43 (which may be wired or wireless), and the internet, a wide area network, a local network, a metropolitan area network, etc. may be used.
The bus 42 may be an ISA bus, PCI bus, EISA bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 4, but that does not indicate only one bus or one type of bus.
The memory 41 is used for storing a program, the processor 40 executes the program after receiving an execution instruction, and the method executed by the apparatus defined by the flow process disclosed in any of the foregoing embodiments of the present invention may be applied to the processor 40, or implemented by the processor 40.
The processor 40 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 40. The processor 40 may be a general-purpose processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory 41, and the processor 40 reads the information in the memory 41 and completes the steps of the method in combination with the hardware thereof.
Corresponding to the method, the embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium stores machine executable instructions, and when the computer executable instructions are called and executed by a processor, the computer executable instructions cause the processor to execute the steps of the method.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments provided in the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, an electronic device, or a network device) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It should be noted that: like reference numbers and letters indicate like items in the figures, and thus once an item is defined in a figure, it need not be further defined or explained in subsequent figures, and moreover, the terms "first," "second," "third," etc. are used merely to distinguish one description from another and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein.
Claims (10)
1. A method for correcting the detection position of a reflective column of a single laser radar is characterized by comprising the following steps:
determining the scanning time of the reflective column according to the original scanning data of the single laser radar and the initial position of the reflective column detection;
calculating a radar pose estimation value of the single laser radar at the reflecting column scanning time based on a radar pose prediction value of the single laser radar at the starting time of the current scanning period;
and correcting the initial detection position of the reflective column based on the radar pose estimation value to obtain a detection corrected position of the reflective column.
2. The method of claim 1, wherein before the step of determining the reflective column scanning time according to the raw scanning data of the single laser radar and the reflective column detection initial position, the method further comprises:
acquiring original scanning data of the single laser radar;
processing the original scanning data by using a reflective column detection algorithm to determine a reflective column detection initial position;
and the initial detection position of the reflective column comprises the angle information of the detected reflective column.
3. The method of claim 2, wherein the raw scan data comprises a reflected light intensity of a scan point of the lidar and a distance of the scan point from the lidar;
processing the original scanning data by using a reflective column detection algorithm to determine a reflective column detection initial position, wherein the reflective column detection initial position comprises the following steps:
and processing the reflection intensity of the scanning point of the single laser radar and the distance between the scanning point and the single laser radar by using a reflection column detection algorithm, and determining the initial position coordinate of the reflection column detection.
4. The method of claim 1, wherein the raw scan data comprises: a scanning start angle of the single laser radar and a scanning period of the single laser radar;
the method comprises the following steps of determining the scanning time of the reflective column according to the original scanning data of the single laser radar and the initial position of the reflective column detection, wherein the steps comprise:
and determining the scanning time of the reflective column based on the scanning starting angle of the single laser radar, the scanning period of the single laser radar and the coordinates of the detection initial position of the reflective column.
5. The method of claim 1, further comprising, prior to the step of calculating a radar pose estimate for the lidar at the retro-reflective column scan time based on a predicted radar pose for the lidar at a start time of a current scan cycle:
calculating first position and attitude information of the single laser radar at a first moment and second position and attitude information of the single laser radar at a second moment based on a reflective column positioning algorithm;
and determining the radar pose prediction value of the single laser radar at the starting moment of the current scanning period based on the first pose information and the second pose information.
6. The method of claim 5, wherein a time period between the first time and a start time of a current scanning cycle is a first time period, and a time period between the second time and the first time is a second time period; the length of the second period is equal to the length of the first period.
7. The method according to claim 6, wherein the step of correcting the initial retroreflective sheeting position based on the radar pose estimation value at the time of scanning the retroreflective sheeting to obtain a retroreflective sheeting detection corrected position includes:
acquiring a radar local coordinate of a detection initial position of a reflective column within the scanning time of the reflective column;
determining a first conversion matrix from a global coordinate system to a radar local coordinate system based on the radar pose estimation value at the reflecting column scanning moment;
determining a second conversion matrix from the global coordinate system to a radar local coordinate system based on the radar pose prediction value at the starting moment of the current scanning period;
and converting the radar local coordinate of the initial detection position of the reflective column in the scanning moment of the reflective column into the radar local coordinate of the initial scanning moment of the current scanning period based on the first conversion matrix and the second conversion matrix.
8. A single laser radar's reflection of light post detects correcting unit of position which characterized in that includes:
the determining module is used for determining the scanning time of the reflective column according to the original scanning data of the single laser radar and the initial position of the reflective column detection;
the calculation module is used for calculating a radar pose estimation value of the single laser radar at the reflecting column scanning time based on a radar pose prediction value of the single laser radar at the starting time of the current scanning period;
and the position correction module is used for correcting the initial position of the reflective column detection based on the radar pose estimation value to obtain a reflective column detection corrected position.
9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program operable on the processor, and wherein the processor implements the steps of the method of any of claims 1 to 7 when executing the computer program.
10. A computer readable storage medium having stored thereon machine executable instructions which, when invoked and executed by a processor, cause the processor to execute the method of any of claims 1 to 7.
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