CN112630749B - Method and device for outputting prompt information - Google Patents
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- CN112630749B CN112630749B CN201910903452.3A CN201910903452A CN112630749B CN 112630749 B CN112630749 B CN 112630749B CN 201910903452 A CN201910903452 A CN 201910903452A CN 112630749 B CN112630749 B CN 112630749B
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
Abstract
The embodiment of the application discloses a method and a device for outputting prompt information. One embodiment of the method comprises the following steps: acquiring at least one frame of point cloud acquired in a preset time period, wherein the same frame of point cloud is acquired at the same time by a plurality of laser radars on an unmanned vehicle; drawing a distribution histogram of at least one frame of point cloud by taking the altitude interval as an abscissa and the number as an ordinate; and outputting calibration prompt information based on the distribution condition of the point cloud points in the distribution histogram. According to the embodiment, based on the distribution situation of the point cloud points in the distribution histogram, whether the laser radar installed on the unmanned vehicle needs recalibration or not can be rapidly determined, and the situation of pose perception errors of obstacles can be reduced.
Description
Technical Field
The embodiment of the application relates to the technical field of computers, in particular to a method and a device for outputting prompt information.
Background
The unmanned automobile is a novel intelligent automobile, also called as a wheel type mobile robot, and mainly obtains surrounding environment data through sensors (laser radar, cameras and the like), and after comprehensive analysis and operation are carried out on the data, instructions are sent out to respectively control different devices in the unmanned automobile, so that full-automatic running of the automobile is realized, and the purpose of unmanned automobile is achieved.
Typically, unmanned vehicles achieve perception by installing multiple lidars. And, these lidars are fixed on the roof of the unmanned car by a fixing device and calibrate the external parameters. It is desirable that the external parameters are not changed after they are calibrated. However, in the actual running process of the unmanned automobile, the bump, human factors or other unknown conditions of the unmanned automobile can cause the pose of the laser radar to change, so that the pose of the subsequently perceived obstacle is wrong.
Disclosure of Invention
The embodiment of the application provides a method and a device for outputting prompt information.
In a first aspect, an embodiment of the present application provides a method for outputting a prompt message, including: acquiring at least one frame of point cloud acquired in a preset time period, wherein the same frame of point cloud is acquired at the same time by a plurality of laser radars on an unmanned vehicle; drawing a distribution histogram of at least one frame of point cloud by taking the altitude interval as an abscissa and the number as an ordinate; and outputting calibration prompt information based on the distribution condition of the point cloud points in the distribution histogram.
In some embodiments, outputting calibration hints based on the distribution of the distribution histogram includes: if the distribution histogram is subjected to unimodal distribution, outputting information for prompting that the calibration of the plurality of laser radars is correct; and if the distribution histogram is subjected to multimodal distribution, outputting information for prompting calibration errors of the plurality of laser radars.
In some embodiments, the method further comprises: if the number of peaks of the distribution histogram is not less than 2 and is less than the number of all the laser radars, determining that the number of peaks is reduced by 1 laser radar calibration error; if the number of peaks of the distribution histogram is equal to the number of all the laser radars, determining that the number of peaks is less than 1 laser radar calibration error or all the laser radars calibration error exists.
In some embodiments, the at least one frame point cloud comprises one of: one frame point cloud, a continuous frame point cloud, and an interval frame point cloud.
In some embodiments, the point cloud points of the same frame of point clouds acquired by the plurality of laser radars are coordinate points in the same preset coordinate system, wherein the preset coordinate system comprises at least one of the following: inertial measurement unit coordinate system, vehicle coordinate system, laser radar coordinate system.
In a second aspect, an embodiment of the present application provides an apparatus for outputting a prompt message, including: the acquisition unit is configured to acquire at least one frame of point cloud acquired in a preset time period, wherein the same frame of point cloud is acquired at the same time by a plurality of laser radars on the unmanned vehicle; a drawing unit configured to draw a distribution histogram of at least one frame of point cloud with the altitude interval as an abscissa and the number as an ordinate; and the output unit is configured to output calibration prompt information based on the distribution condition of the point cloud points in the distribution histogram.
In some embodiments, the output unit is further configured to: if the distribution histogram is subjected to unimodal distribution, outputting information for prompting that the calibration of the plurality of laser radars is correct; and if the distribution histogram is subjected to multimodal distribution, outputting information for prompting calibration errors of the plurality of laser radars.
In some embodiments, the apparatus further comprises: a first determining unit configured to determine that there is a number of peaks minus 1 lidar calibration error if the number of peaks of the distribution histogram is not less than 2 and is less than the number of all lidars; and a second determining unit configured to determine that there is a number of peaks minus 1 lidar calibration error or all lidar calibration errors if the number of peaks of the distribution histogram is equal to the number of all lidars.
In some embodiments, the at least one frame point cloud comprises one of: one frame point cloud, a continuous frame point cloud, and an interval frame point cloud.
In some embodiments, the point cloud points of the same frame of point clouds acquired by the plurality of laser radars are coordinate points in the same preset coordinate system, wherein the preset coordinate system comprises at least one of the following: inertial measurement unit coordinate system, vehicle coordinate system, laser radar coordinate system.
In a third aspect, an embodiment of the present application provides an electronic device, including: one or more processors; a storage device having one or more programs stored thereon; the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method as described in any of the implementations of the first aspect.
In a fourth aspect, embodiments of the present application provide a computer readable medium having stored thereon a computer program which, when executed by a processor, implements a method as described in any of the implementations of the first aspect.
The method and the device for outputting the prompt information provided by the embodiment of the application firstly acquire at least one frame of point cloud acquired in a preset time period; then, drawing a distribution histogram of at least one frame of point cloud by taking the altitude interval as an abscissa and the number as an ordinate; and finally, outputting calibration prompt information based on the distribution condition of the point cloud points in the distribution histogram. Based on the distribution condition of the point cloud points in the distribution histogram, whether the laser radar installed on the unmanned vehicle needs recalibration or not can be rapidly determined, and the situation of pose perception errors of obstacles can be reduced.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the following drawings, in which:
FIG. 1 is an exemplary system architecture in which the present application may be applied;
FIG. 2 is a flow chart of one embodiment of a method for outputting hint information according to the present application;
FIG. 3 is a flow chart of yet another embodiment of a method for outputting hints information in accordance with the present application;
FIG. 4 is a schematic structural view of one embodiment of an apparatus for outputting hint information according to the present application;
fig. 5 is a schematic diagram of a computer system suitable for use in implementing embodiments of the present application.
Detailed Description
The present application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
FIG. 1 illustrates an exemplary system architecture 100 to which embodiments of the present application for outputting hints information or apparatus for outputting hints information can be applied.
As shown in fig. 1, an unmanned vehicle 101 may be included in a system architecture 100. The unmanned vehicle 101 may be mounted with lidars 1011, 1012, 1013, a network 1014 and a driving control device 1015. The network 1014 is a medium to provide a communication link between the lidars 1011, 1012, 1013 and the driving control apparatus 1015. The network 1014 may include various connection types, such as wired, wireless communication links, or fiber optic cables, among others.
The lidars 1011, 1012, 1013 may interact with the driving control apparatus 1015 through the network 1014 to receive or transmit messages or the like.
The lidars 1011, 1012, 1013 may be radar systems that detect characteristic amounts of the position, speed, and the like of the target with emitted laser beams. Specifically, when the laser beams emitted from the lidars 1011, 1012, 1013 are irradiated to the target surface, the reflected laser beams carry information of azimuth, distance, and the like. When the laser beams emitted from the lidars 1011, 1012, 1013 are scanned along a certain trajectory, reflected laser spot information is recorded while scanning, and since the scanning is extremely fine, a large number of laser spots can be obtained, and thus a laser spot cloud can be formed.
The driving control device 1015, also called the vehicle-mounted brain, is responsible for intelligent control of the unmanned vehicle 101. The driving control device 1015 may be a separately provided controller, such as a programmable logic controller, a single-chip microcomputer, an industrial controller, or the like; the device can also be equipment consisting of other electronic devices with input/output ports and operation control functions; but also a computer device installed with a vehicle driving control type application.
It should be noted that, the method for outputting the prompt information provided in the embodiment of the present application is generally performed by the driving control device 1015, and accordingly, the means for outputting the prompt information is generally provided in the driving control device 1015.
It should be understood that the number of driving control devices, networks and lidars in fig. 1 is merely illustrative. There may be any number of drive control devices, networks, and lidars as desired for implementation.
With continued reference to FIG. 2, a flow 200 of one embodiment of a method for outputting hint information according to the present application is shown. The method for outputting the prompt message comprises the following steps:
In the present embodiment, an execution subject of the method for outputting the prompt information (for example, the driving control apparatus 1015 shown in fig. 1) may acquire at least one frame point cloud acquired by the lidars (for example, the lidars 1011, 1012, 1013 shown in fig. 1) within a preset period of time (for example, within the previous 1 minute). Typically, when each frame of point cloud is collected, the laser radar will send the collected frame of point cloud to the execution subject in real time.
In practice, lidar may be mounted on the roof of an unmanned vehicle (e.g., unmanned vehicle 101 shown in fig. 1) for collecting a point cloud of objects surrounding the unmanned vehicle. And moreover, the unmanned automobile can be provided with a plurality of laser radars, and the same frame of point cloud is acquired at the same time by the plurality of laser radars on the unmanned automobile. Wherein each frame of point cloud may be composed of a large number of point cloud points (laser points), each of which may include three-dimensional coordinates and laser reflection intensity. Typically, the coordinate system is preset when calibrating the external parameters for the lidar. And the point cloud points in the same frame of point cloud acquired by a plurality of laser radars on the same unmanned automobile are all coordinate points in the same preset coordinate system. The preset coordinate system may move with the movement of the unmanned vehicle, such as a vehicle coordinate system, an IMU (Inertial measurement unit ) coordinate system, a lidar coordinate system, etc. When the preset coordinate system is the laser radar coordinate system, the point cloud points collected by different laser radars installed on the same unmanned vehicle are all coordinate points in the same laser radar coordinate system.
In some optional implementations of this embodiment, the at least one frame point cloud acquired by the executing body may include one of the following: a frame of point cloud acquired by the plurality of laser radars in a preset time period, a continuous frame of point cloud acquired by the plurality of laser radars in the preset time period, an interval frame of point cloud acquired by the plurality of laser radars in the preset time period, and the like.
In general, the more the number of point cloud frames, the more realistic the distribution of the distribution histogram. To ensure the authenticity of the distribution, the executing entity usually acquires multiple-frame point clouds for analysis. For example, the executing entity may read the point cloud for a continuous period of time. In practice, the above-described execution subject reads a point cloud in a period of 30 seconds or more, for example, a point cloud in 1 minute. At this time, if the acquisition frequency of the lidar is 10 frames/second, the executing body may read 600 frames of point clouds. Wherein each frame of point cloud may include twenty thousand point cloud points.
In this embodiment, the execution body may draw a distribution histogram of at least one frame of point cloud with the altitude interval as an abscissa and the number as an ordinate. Wherein the height of a point cloud point in at least one frame of point clouds may be equal to the value of the Z coordinate in the three-dimensional coordinates of the point cloud point.
Here, the above-described execution bodies may divide the height into a plurality of fine-grained intervals, and for example, the height intervals may include 0-0.1 meters, 0.1-0.2 meters, 0.2-0.3 meters, and the like. Subsequently, the execution body may count the number of point cloud points falling into each altitude section and draw a distribution histogram.
And 203, outputting calibration prompt information based on the distribution condition of the point cloud points in the distribution histogram.
In this embodiment, the execution body may output calibration prompt information based on the distribution condition of the point cloud points in the distribution histogram.
Typically, laser beams emitted from lidar mounted on an unmanned car are mostly irradiated to the ground. That is, a large portion of the point cloud points in at least one frame of point cloud belong to the ground. Although the ground is not perfectly flat, the height error of the point cloud on the ground is between 2 and 3 cm. Thus, a vast majority of the point clouds in at least one frame of point clouds acquired by the plurality of lidars are ground point clouds. If the laser radars are calibrated correctly, the cloud points of the ground points collected by different laser radars fall into the same height interval. And, the number of point cloud points falling into this height section is significantly higher than the number of point cloud points falling into its adjacent section. That is, the distribution histogram follows a normal unimodal distribution, and the height interval in which the ground point cloud falls is the peak interval.
In some optional implementations of this embodiment, if the distribution histogram follows a unimodal distribution, it is indicated that the plurality of lidar acquisition point cloud points installed on the unmanned vehicle are all coordinate points in the same preset coordinate system. At this time, the execution body may output information for prompting that the plurality of laser radars are correctly calibrated, so as to prompt the user that the laser radars installed on the unmanned vehicle do not need to be recalibrated. If the distribution histogram is subjected to multimodal distribution, the fact that the plurality of laser radar acquisition point cloud points installed on the unmanned automobile are not coordinate points in the same preset coordinate system is indicated. At this time, the execution body may output information for prompting a plurality of laser radar calibration errors, so as to prompt the user that the laser radar installed on the unmanned vehicle needs to be recalibrated.
It should be appreciated that in practice, the multiple lidars mounted on the same unmanned vehicle are typically identical wiring harness lidars, e.g., 4-wire, 16-wire, 40-wire, 128-wire, etc. In addition, the method for outputting the prompt information provided by the embodiment of the application is also applicable to the laser radar with a plurality of different wire harnesses installed on the same unmanned automobile.
The method for outputting prompt information provided by the embodiment of the application comprises the steps of firstly acquiring at least one frame of point cloud acquired in a preset time period; then, drawing a distribution histogram of at least one frame of point cloud by taking the altitude interval as an abscissa and the number as an ordinate; and finally, outputting calibration prompt information based on the distribution condition of the point cloud points in the distribution histogram. Based on the distribution condition of the point cloud points in the distribution histogram, whether the laser radar installed on the unmanned vehicle needs recalibration or not can be rapidly determined, and the situation of pose perception errors of obstacles can be reduced.
With further reference to fig. 3, a flow 300 of yet another embodiment of a method for outputting hint information according to the present application is shown. The method for outputting the prompt message comprises the following steps:
In this embodiment, the specific operations of steps 301 to 302 are described in detail in steps 201 to 202 in the embodiment shown in fig. 2, and are not described herein.
And 303, outputting information for prompting that the calibration of the plurality of laser radars is correct if the distribution histogram is subjected to unimodal distribution.
In the present embodiment, an execution subject of the method for outputting the hint information (e.g., the driving control apparatus 1015 shown in fig. 1) may analyze the distribution situation of the distribution histogram. If the distribution histogram is subjected to unimodal distribution, the fact that the cloud points of a plurality of laser radar acquisition points installed on the unmanned automobile are all coordinate points in the same preset coordinate system is indicated. At this time, the execution body may output information for prompting that the plurality of laser radars are correctly calibrated, so as to prompt the user that the laser radars installed on the unmanned vehicle do not need to be recalibrated.
And step 304, if the distribution histogram is subjected to multimodal distribution, outputting information for prompting a plurality of laser radar calibration errors.
In this embodiment, if the distribution histogram obeys the multimodal distribution, it is indicated that the plurality of laser radar acquisition points cloud points installed on the unmanned vehicle are not coordinate points in the same preset coordinate system. At this time, the execution body may output information for prompting a plurality of laser radar calibration errors, so as to prompt the user that the laser radar installed on the unmanned vehicle needs to be recalibrated.
In this embodiment, if the number of peaks of the distribution histogram is not less than 2 and less than the number of all lidars, the execution entity may determine that there is a 1-peak-less-number of lidar calibration errors. For example, 3 lidars are installed on an unmanned automobile, and 1 peak exists in a distribution histogram under the condition that the lidar is calibrated correctly. When 1 laser radar calibration error exists, the distribution situation of the point cloud points acquired by the laser radar with the calibration error shifts, and at the moment, 2 peaks exist in the distribution histogram.
In this embodiment, if the number of peaks of the distribution histogram is equal to the number of all lidars, the executing body may determine that there is a 1-peak-less-number-of-peaks error or all-lidar error. For example, 3 lidars are installed on an unmanned automobile, and 1 peak exists in a distribution histogram under the condition that the lidar is calibrated correctly. When there are 2 laser radar calibration errors, the distribution situation of the point cloud points collected by the 2 laser radars with the calibration errors will shift, and at this time, the distribution histogram will have 3 peaks. In addition, when there are 3 laser radar calibration errors, the distribution situation of the point cloud points collected by the 3 laser radars with the calibration errors is shifted, and at this time, the distribution histogram has 3 peaks.
As can be seen from fig. 3, compared to the corresponding embodiment of fig. 2, the flow 300 of the method for outputting prompt information in this embodiment adds the step of determining the number of erroneous lidars. Thus, the scheme described in this embodiment can quickly determine the number of wrongly calibrated lidars by distributing the number of peaks of the histogram.
With further reference to fig. 4, as an implementation of the method shown in the foregoing figures, the present application provides an embodiment of an apparatus for outputting a prompt message, where the embodiment of the apparatus corresponds to the embodiment of the method shown in fig. 2, and the apparatus may be specifically applied to various electronic devices.
As shown in fig. 4, the apparatus 400 for outputting prompt information of the present embodiment may include: an acquisition unit 401, a drawing unit 402, and an output unit 403. The acquiring unit 401 is configured to acquire at least one frame of point cloud acquired in a preset time period, wherein the same frame of point cloud is acquired by a plurality of laser radars on the unmanned vehicle at the same time; a drawing unit 402 configured to draw a distribution histogram of at least one frame of point cloud with the altitude interval as an abscissa and the number as an ordinate; and an output unit 403 configured to output calibration prompt information based on the distribution situation of the point cloud points in the distribution histogram.
In this embodiment, in the apparatus 400 for outputting the prompt information: the specific processing of the obtaining unit 401, the drawing unit 402 and the output unit 403 and the technical effects thereof may refer to the relevant descriptions of steps 201 to 203 in the corresponding embodiment of fig. 2, and are not repeated here.
In some optional implementations of the present embodiment, the output unit 403 is further configured to: if the distribution histogram obeys a unimodal distribution, outputting information for prompting correct calibration of a plurality of laser radars; and if the distribution histogram is subjected to multimodal distribution, outputting information for prompting calibration errors of the plurality of laser radars.
In some optional implementations of this embodiment, the apparatus 400 for outputting the prompt information further includes: a first determining unit (not shown in the figure) configured to determine that there is a number of peaks minus 1 lidar calibration error if the number of peaks of the distribution histogram is not less than 2 and less than the number of all lidars; a second determining unit (not shown in the figure) configured to determine that there is a number of peaks minus 1 lidar calibration error or all lidar calibration errors if the number of peaks of the distribution histogram is equal to the number of all lidars.
In some optional implementations of this embodiment, the at least one frame of point cloud includes one of: one frame point cloud, a continuous frame point cloud, and an interval frame point cloud.
In some optional implementations of this embodiment, the point cloud points of the same frame of point clouds acquired by the multiple lidars are coordinate points in the same preset coordinate system, where the preset coordinate system includes at least one of the following: inertial measurement unit coordinate system, vehicle coordinate system, laser radar coordinate system.
Referring now to FIG. 5, a schematic diagram of a computer system 500 suitable for use in implementing an electronic device (e.g., the drive control device 1015 shown in FIG. 1) of an embodiment of the present application is shown. The electronic device shown in fig. 5 is only an example and should not impose any limitation on the functionality and scope of use of the embodiments of the present application.
As shown in fig. 5, the computer system 500 includes a Central Processing Unit (CPU) 501, which can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 502 or a program loaded from a storage section 508 into a Random Access Memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the system 500 are also stored. The CPU 501, ROM 502, and RAM 503 are connected to each other through a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.
The following components are connected to the I/O interface 505: an input section 506 including a keyboard, a mouse, and the like; an output portion 507 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker, and the like; a storage portion 508 including a hard disk and the like; and a communication section 509 including a network interface card such as a LAN card, a modem, or the like. The communication section 509 performs communication processing via a network such as the internet. The drive 510 is also connected to the I/O interface 505 as needed. A removable medium 511 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 510 as needed so that a computer program read therefrom is mounted into the storage section 508 as needed.
In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flowcharts. In such an embodiment, the computer program may be downloaded and installed from a network via the communication portion 509, and/or installed from the removable media 511. The above-described functions defined in the method of the present application are performed when the computer program is executed by a Central Processing Unit (CPU) 501.
It should be noted that, the computer readable medium described in the present application may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present application, however, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations of the present application may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or electronic device. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units involved in the embodiments of the present application may be implemented by software, or may be implemented by hardware. The described units may also be provided in a processor, for example, described as: a processor includes an acquisition unit, a rendering unit, and an output unit. The names of these units do not in each case limit the unit itself, for example, the acquisition unit may also be described as "a unit that acquires at least one frame point cloud acquired within a preset period of time".
As another aspect, the present application also provides a computer-readable medium that may be contained in the electronic device described in the above embodiment; or may exist alone without being incorporated into the electronic device. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: acquiring at least one frame of point cloud acquired in a preset time period, wherein the same frame of point cloud is acquired at the same time by a plurality of laser radars on an unmanned vehicle; drawing a distribution histogram of at least one frame of point cloud by taking the altitude interval as an abscissa and the number as an ordinate; and outputting calibration prompt information based on the distribution condition of the point cloud points in the distribution histogram.
The foregoing description is only of the preferred embodiments of the present application and is presented as a description of the principles of the technology being utilized. It will be appreciated by persons skilled in the art that the scope of the invention referred to in this application is not limited to the specific combinations of features described above, but it is intended to cover other embodiments in which any combination of features described above or equivalents thereof is possible without departing from the spirit of the invention. Such as the above-described features and technical features having similar functions (but not limited to) disclosed in the present application are replaced with each other.
Claims (10)
1. A method for outputting a hint information, comprising:
acquiring at least one frame of point cloud acquired in a preset time period, wherein the same frame of point cloud is acquired at the same time by a plurality of laser radars on an unmanned vehicle;
drawing a distribution histogram of the at least one frame of point cloud by taking the altitude interval as an abscissa and the number as an ordinate;
and outputting calibration prompt information based on the distribution condition of the point cloud points in the distribution histogram.
2. The method of claim 1, wherein the outputting calibration hints based on the distribution of the distribution histogram comprises:
outputting information for prompting correct calibration of the plurality of laser radars if the distribution histogram obeys unimodal distribution;
and if the distribution histogram is subjected to multimodal distribution, outputting information for prompting the calibration errors of the plurality of laser radars.
3. The method of claim 2, wherein the method further comprises:
if the number of peaks of the distribution histogram is not less than 2 and is less than the number of all the laser radars, determining that the number of peaks minus 1 laser radar calibration error exists;
and if the number of peaks of the distribution histogram is equal to the number of all the laser radars, determining that all the laser radars are in calibration error.
4. A method according to one of claims 1-3, wherein the at least one frame point cloud comprises one of: one frame point cloud, a continuous frame point cloud, and an interval frame point cloud.
5. The method according to one of claims 1-3, wherein the point cloud points of the same frame of point clouds acquired by the plurality of lidars are all coordinate points in the same preset coordinate system, wherein the preset coordinate system comprises at least one of the following: inertial measurement unit coordinate system, vehicle coordinate system, laser radar coordinate system.
6. An apparatus for outputting a hint information, comprising:
the acquisition unit is configured to acquire at least one frame of point cloud acquired in a preset time period, wherein the same frame of point cloud is acquired at the same time by a plurality of laser radars on the unmanned vehicle;
a drawing unit configured to draw a distribution histogram of the at least one frame of point cloud with the altitude interval as an abscissa and the number as an ordinate;
and the output unit is configured to output calibration prompt information based on the distribution condition of the point cloud points in the distribution histogram.
7. The apparatus of claim 6, wherein the output unit is further configured to:
outputting information for prompting correct calibration of the plurality of laser radars if the distribution histogram obeys unimodal distribution;
and if the distribution histogram is subjected to multimodal distribution, outputting information for prompting the calibration errors of the plurality of laser radars.
8. The apparatus of claim 7, wherein the apparatus further comprises:
a first determining unit configured to determine that there is a 1-less laser radar calibration error less than the number of peaks of the distribution histogram if the number of peaks is not less than 2 and less than the number of all laser radars;
and a second determining unit configured to determine all laser radar calibration errors if the number of peaks of the distribution histogram is equal to the number of all laser radars.
9. An electronic device, comprising:
one or more processors;
a storage device having one or more programs stored thereon,
when executed by the one or more processors, causes the one or more processors to implement the method of any of claims 1-5.
10. A computer readable medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the method of any of claims 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910903452.3A CN112630749B (en) | 2019-09-24 | 2019-09-24 | Method and device for outputting prompt information |
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