CN112556654A - High-precision map data acquisition device and method - Google Patents
High-precision map data acquisition device and method Download PDFInfo
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- CN112556654A CN112556654A CN202011491943.0A CN202011491943A CN112556654A CN 112556654 A CN112556654 A CN 112556654A CN 202011491943 A CN202011491943 A CN 202011491943A CN 112556654 A CN112556654 A CN 112556654A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
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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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/865—Combination of radar systems with lidar systems
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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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
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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
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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Abstract
The invention provides a high-precision map data acquisition device and a high-precision map data acquisition method, wherein the device comprises a fixed platform, a multi-line laser radar, millimeter radar waves, a four-eye camera, a GNSS/INS and a control module; the sensors are arranged on the fixed platform by utilizing the supporting rod and the supporting platform, the two multi-line laser radars and the fixed platform are arranged at a preset angle, the four-eye cameras face four directions respectively, and the cameras on two sides of the vehicle and the front-view camera form an angle of 45 degrees; and a GPS antenna and an IMU attitude sensor are installed on the fixed platform, and Polyfusion is used as a data fusion hardware platform of each sensor. According to the scheme, the data acquisition precision and the data integrity can be guaranteed, and meanwhile the acquisition cost of the high-precision map data is reduced.
Description
Technical Field
The invention relates to the field of high-precision maps, in particular to a high-precision map data acquisition device and method.
Background
In the high-precision map making process, data needs to be acquired in the field through acquiring vehicles. The mobile measurement acquisition vehicle is an image and laser point cloud data acquisition system based on a mobile carrier, acquires accurate geocoding images and laser point cloud data in the moving process of the mobile carrier, has high data accuracy, acquires visual images (including panoramic or aerial cameras) of an operation environment by utilizing an industrial camera, acquires point cloud coordinate values and intensity values by utilizing a laser sensor, provides accurate positions and postures by a POS system consisting of a GNSS and an IMU, and synchronously fuses all sensor data by processing software.
Because collection device has integrated a large amount of core spare parts on the collection car, all very expensive like laser system, inertial navigation system, image system, in order to ensure the precision moreover, often can use the equipment of high-precision. However, acquisition using these high precision devices is cost prohibitive.
Disclosure of Invention
In view of this, the embodiment of the invention provides a high-precision map data acquisition device and method, so as to solve the problem of high acquisition cost of high-precision map data.
In a first aspect of the embodiments of the present invention, a high-precision map data collection device is provided, which at least includes a fixed platform, a multiline laser radar, a millimeter radar wave, a four-eye camera, a GNSS/INS, and a control module;
the sensors are arranged on the fixed platform by utilizing the supporting rod and the supporting platform, the two multi-line laser radars and the fixed platform are arranged at a preset angle, the four-eye cameras face four directions respectively, and the cameras on two sides of the vehicle and the front-view camera form an angle of 45 degrees; a GPS antenna and an IMU attitude sensor are arranged on the fixed platform;
wherein, Polyfusion is used as a hardware platform for fusing sensor data.
In a second aspect of the embodiments of the present invention, there is provided a high-precision map data acquisition method, including:
raw data by each sensor, the raw data including at least GPS data, IMU data, LiDAR data, and image data;
and synthesizing LiDAR raw data to obtain a point cloud file according to the track information by using a Polyfusion hardware platform, and providing position information and time information for image data.
In the embodiment of the invention, the low-cost multi-line laser radar is utilized, and the multi-source data fusion method is adopted, so that the problems of data loss, single and incomplete data and the like caused by shielding can be avoided. The low-cost sensor is used for replacing an expensive high-precision sensor integrated vehicle-mounted mobile measurement system, the cost of the vehicle-mounted mobile measurement system is reduced, a plurality of low-cost sensors are used, and the problems of data sparseness and the like caused by low scanning frequency of the low-cost sensors are solved through fusion of a Polyfusion platform, so that the assembly cost can be reduced on the premise of guaranteeing the measurement precision.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a high-precision map data acquisition device according to an embodiment of the present invention;
fig. 2 is another schematic structural diagram of a high-precision map data acquisition device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons skilled in the art without any inventive work shall fall within the protection scope of the present invention, and the principle and features of the present invention shall be described below with reference to the accompanying drawings.
The terms "comprises" and "comprising," when used in this specification and claims, and in the accompanying drawings and figures, are intended to cover non-exclusive inclusions, such that a process, method or system, or apparatus that comprises a list of steps or elements is not limited to the listed steps or elements.
It can be understood that the high-precision map acquisition device needs to meet the requirements of low cost, high efficiency, good quality and mass production, is suitable for different application scenes such as expressways, urban roads, underground parking lots and the like, and can ensure the precision under the condition that a long tunnel does not have a GNSS signal and a combined inertial navigation failure scene needs to be considered. The core of the system comprises sensors such as a GNSS/INS system, a laser radar and a camera, and a hardware platform integrating sensor output.
The high-precision map data acquisition device 10 provided by one embodiment of the invention at least comprises a fixed platform, a multi-line laser radar, a millimeter wave radar, a camera, a GNSS/INS and a control module;
the sensors are arranged on the fixed platform by utilizing the supporting rod and the supporting platform, the two multi-line laser radars and the fixed platform are arranged at a preset angle, the four-eye cameras face four directions respectively, and the cameras on two sides of the vehicle and the front-view camera form an angle of 45 degrees; a GPS antenna and an IMU attitude sensor are arranged on the fixed platform;
the fixed platform comprises a supporting rod and a supporting platform, and each sensor comprises a laser radar, a millimeter wave radar, a camera and a GNSS/INS sensor (namely a GPS and IMU attitude sensor). The laser radar and the fixed platform form a certain angle and can rotate freely, and the camera can collect image data of the vehicle in four directions.
As shown in fig. 1, in the high-precision map data collection apparatus, LiDAR data, image data, IMU (inertial measurement unit), GNSS data, and the like are collected by a multiline LiDAR, a millimeter wave radar, a camera, and a GNSS/INS, respectively, and an application level operation control is provided in a control module. Furthermore, the acquisition device also comprises a power supply and a speedometer, wherein the speedometer is arranged at the position of the wheel and is used for acquiring the driving mileage of the vehicle.
Preferably, the multiline laser radar is LiDAR-Velodyne VLP-32C, and the GNSS/INS model is GNSS/INS-PolyNav 2000F.
Wherein, Polyfusion is used as a hardware platform for fusing sensor data. The Polyfusion hardware platform is a multi-sensor data fusion platform aiming at automatic driving and high-precision map data acquisition, is based on NVIDIA Xavier as a central data processing unit, and can integrate a PolyNav2000F navigation system and a high-speed data storage and data I/O unit. The nanosecond high-precision data synchronization function is provided, data acquisition of a plurality of LiDAR, IMU, cameras, radars and wheel speed meters can be synchronized at the same time, and high-precision multi-sensor time synchronization can be still kept under the condition that satellite signals are lost; a 10Gb/s high-speed Ethernet data interface is provided, and rapid data access can be realized; the SSD hard disk with 10Tb is built in, and continuous data acquisition work for 12 hours can be realized; and meanwhile, a CAN Bus interface is provided to realize real-time communication with the vehicle-mounted sensor.
It should be noted that in the embodiment of the present invention, each sensor is mounted on a steel frame platform by using a support rod and a support platform; the multiline radar is installed in a 45-degree angle crossing manner; the four-eye camera is arranged at one path of front view and one path of rear view, and the left side and the right side of the four-eye camera form an included angle of 45 degrees with the front view; the odometer is arranged in the wheel. In addition, a double GPS antenna and a positioning and attitude-determining system are arranged on the platform, so that a multi-source sensing mode is formed and data synchronous acquisition can be carried out by combining the IMU. The assembly is schematically shown in fig. 2.
It will be appreciated that, in one embodiment, the sensors and hardware devices included in the high-precision map data acquisition apparatus are as follows:
the global optimization of the vehicle-mounted laser point cloud which is scanned for multiple times and scanned repeatedly is researched, the problem of inconsistent data precision of the point cloud which is scanned for multiple times and scanned repeatedly can be solved, and the quality and the usability of the vehicle-mounted laser scanning data are improved.
Based on the hardware composition of the acquisition device, the overall cost is lower, and the cost of the high-precision map acquisition vehicle can be reduced to below 30 ten thousand yuan.
It can also be understood that the quality improvement of the vehicle-mounted laser scanning data is based on the data acquisition by adopting an integrated and calibrated system, and the quality of the acquired data is improved by using a post-processing method, so that the technology is based on the application of the technology in various industries; after the vehicle-mounted laser scanning data meeting the quality requirement are obtained, the vehicle-mounted laser point cloud classification technology is used for classifying the point cloud data, and the subsequent application of the point cloud data is facilitated.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
In another embodiment, a high-precision map data acquisition method is provided, including:
raw data by each sensor, the raw data including at least GPS, IMU data, LiDAR data, and image data;
and synthesizing LiDAR raw data to obtain a point cloud file according to the track information by using a Polyfusion hardware platform, and providing position information and time information for image data.
Specifically, during operation of the collection vehicle, the on-board system will collect and synchronize raw data of each sensor, including GPS observations, IMU data, LiDAR data, image data, and the like. After the operation is completed, a Polyfusion software system is used, the LiDAR raw data is synthesized by utilizing the track information to obtain a point cloud file, and geographic position and system time information are provided for all images.
It will be appreciated that in one embodiment, the electronic device comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program performing method steps as in an embodiment to implement automated collection of crowd-sourced map data. It is further understood that all or part of the steps of the method may be implemented by a program instructing associated hardware, and the program may be stored in a computer-readable storage medium, and the storage medium includes, for example: ROM/RAM, magnetic disk, optical disk, etc.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (3)
1. A high-precision map data acquisition device is characterized by at least comprising a fixed platform, a multi-line laser radar, a millimeter radar wave, a four-eye camera, a GNSS/INS and a control module;
the sensors are arranged on the fixed platform by utilizing the supporting rod and the supporting platform, the two multi-line laser radars and the fixed platform are arranged at a preset angle, the four-eye cameras face four directions respectively, and the cameras on two sides of the vehicle and the front-view camera form an angle of 45 degrees; a GPS antenna and an IMU attitude sensor are arranged on the fixed platform;
wherein, Polyfusion is used as a hardware platform for fusing sensor data.
2. The apparatus of claim 1, wherein the multiline LiDAR is LiDAR-Velodyne VLP-32C and the GNSS/INS model is GNSS/INS-PolyNav 2000F.
3. A high-precision map data acquisition method is characterized by comprising the following steps:
raw data by each sensor, the raw data including at least GPS data, IMU data, LiDAR data, and image data;
and synthesizing LiDAR raw data to obtain a point cloud file according to the track information by using a Polyfusion hardware platform, and providing position information and time information for image data.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113654550A (en) * | 2021-09-09 | 2021-11-16 | 武汉中海庭数据技术有限公司 | High-precision map acquisition system |
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| CN110057373A (en) * | 2019-04-22 | 2019-07-26 | 上海蔚来汽车有限公司 | For generating the method, apparatus and computer storage medium of fine semanteme map |
| CN111552756A (en) * | 2020-04-28 | 2020-08-18 | 北京踏歌智行科技有限公司 | Mining area high-precision map manufacturing method capable of achieving automatic dynamic updating of pit shoveling and point unloading |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109188458A (en) * | 2018-07-25 | 2019-01-11 | 武汉中海庭数据技术有限公司 | A kind of traverse measurement system based on double laser radar sensor |
| CN110057373A (en) * | 2019-04-22 | 2019-07-26 | 上海蔚来汽车有限公司 | For generating the method, apparatus and computer storage medium of fine semanteme map |
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| Publication number | Priority date | Publication date | Assignee | Title |
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