CN112313534A - 一种多通道激光雷达点云插值的方法和测距装置 - Google Patents

一种多通道激光雷达点云插值的方法和测距装置 Download PDF

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Publication number
CN112313534A
CN112313534A CN201980008840.3A CN201980008840A CN112313534A CN 112313534 A CN112313534 A CN 112313534A CN 201980008840 A CN201980008840 A CN 201980008840A CN 112313534 A CN112313534 A CN 112313534A
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龙承辉
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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
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

一种多通道激光雷达点云插值的方法和测距装置(100,200)，其中方法包括：获取初始点云数据，初始点云数据是通过多通道激光雷达对目标场景进行探测得到的，初始点云数据包括多个通道的采样点，其中每个通道包含先后采样得到的多个采样点；在不同通道的相邻采样点之间插入至少一个第一插值点，在同一通道的相邻采样点之间插入至少一个第二插值点，得到新点云数据。方法是针对多线激光雷达进行二维插值，由于使用多线激光雷达相邻采样点之间进行插值，减少了所需要的计算量和存储所需要的空间，增加了采样点数，更加有利于上层应用使用点云。

Description

PCT国内申请，说明书已公开。

Claims (24)

  1. PCT国内申请，权利要求书已公开。
CN201980008840.3A 2019-05-31 2019-05-31 一种多通道激光雷达点云插值的方法和测距装置 Pending CN112313534A (zh)

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PCT/CN2019/089638 WO2020237663A1 (zh) 2019-05-31 2019-05-31 一种多通道激光雷达点云插值的方法和测距装置

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Cited By (2)

* Cited by examiner, † Cited by third party
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WO2023019901A1 (zh) * 2021-08-16 2023-02-23 上海禾赛科技有限公司 提高激光雷达分辨率的方法及装置、激光雷达
WO2023123886A1 (zh) * 2021-12-28 2023-07-06 上海禾赛科技有限公司 激光雷达的探测方法以及激光雷达

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CN108189637A (zh) * 2017-12-29 2018-06-22 燕山大学 一种应急救援车辆主动悬挂作动器控制量的数据融合方法
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KR101884018B1 (ko) * 2012-02-21 2018-08-29 현대엠엔소프트 주식회사 라이다 데이터를 이용한 도로의 곡선반경, 종단 및 횡단 경사도 산출 방법
CN108700653A (zh) * 2017-05-31 2018-10-23 深圳市大疆创新科技有限公司 一种激光雷达的扫描控制方法、装置及设备
JP6984215B2 (ja) * 2017-08-02 2021-12-17 ソニーグループ株式会社 信号処理装置、および信号処理方法、プログラム、並びに移動体
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WO2009026832A1 (fr) * 2007-08-22 2009-03-05 Youyun Dong Dispositif à système intelligent de gestion de l'énergie électrique
CN108986024A (zh) * 2017-06-03 2018-12-11 西南大学 一种基于网格的激光点云规则排列处理方法
CN108189637A (zh) * 2017-12-29 2018-06-22 燕山大学 一种应急救援车辆主动悬挂作动器控制量的数据融合方法
CN108267746A (zh) * 2018-01-17 2018-07-10 上海禾赛光电科技有限公司 激光雷达系统、激光雷达点云数据的处理方法、可读介质
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023019901A1 (zh) * 2021-08-16 2023-02-23 上海禾赛科技有限公司 提高激光雷达分辨率的方法及装置、激光雷达
WO2023123886A1 (zh) * 2021-12-28 2023-07-06 上海禾赛科技有限公司 激光雷达的探测方法以及激光雷达

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Application publication date: 20210202