CN113625243A - Method and device for improving image signal-to-noise ratio of laser radar in severe weather - Google Patents
Method and device for improving image signal-to-noise ratio of laser radar in severe weather Download PDFInfo
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Abstract
The invention provides a method and a device for improving the signal-to-noise ratio of a laser radar image in severe weather, which solve the problem of overlarge background noise of original point cloud data caused by laser diffuse reflection in severe weather environments such as rain and snow and greatly improve the quality of the laser radar point cloud image in the severe weather environments. The method comprises the following steps: s1, scanning the laser radar in a full range to obtain original point cloud data of the laser radar; s2, deploying a neural network to detect and identify targets to obtain interested target areas and distances of the laser radar images; s3, adjusting the scanning angle of the laser radar according to the area data, so that the laser radar only scans the interested target area, and the consistency of the point cloud data of the interested target is ensured; and S4, performing distance gating on the original point cloud data according to the distance data, filtering the non-interesting distance point cloud data, and reserving the interesting distance point cloud data.
Description
Technical Field
The invention relates to a method for improving image signal-to-noise ratio, in particular to a method and a device for improving image signal-to-noise ratio of a laser radar in severe weather.
Background
The laser radar is a device capable of transmitting and receiving laser signals to indirectly measure the target distance, and is widely applied to the fields of three-dimensional reconstruction, automatic driving and the like. When the laser radar works, the influence of weather environment is large, the attenuation of laser is small generally in clear weather, the propagation distance is long, and under the severe weather environments such as rain, snow, dense smoke and dense fog, the attenuation is increased rapidly, and the image signal-to-noise ratio of the laser radar is reduced.
Disclosure of Invention
The invention provides a method and a device for improving the signal-to-noise ratio of a laser radar image in severe weather, which solve the problem of overlarge background noise of original point cloud data caused by laser diffuse reflection in severe weather environments such as rain and snow and greatly improve the quality of the laser radar point cloud image in the severe weather environments.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a method for improving the signal-to-noise ratio of a laser radar image in severe weather comprises the following steps:
s1, scanning the laser radar in a full range to obtain original point cloud data of the laser radar;
s2, deploying a neural network to detect and identify targets to obtain interested target areas and distances of the laser radar images;
s3, adjusting the scanning angle of the laser radar according to the area data, so that the laser radar only scans the interested target area, and the consistency of the point cloud data of the interested target is ensured;
and S4, performing distance gating on the original point cloud data according to the distance data, filtering the non-interesting distance point cloud data, and reserving the interesting distance point cloud data.
In the preferred scheme of the method for improving the signal-to-noise ratio of the laser radar image in the severe weather, the step S3 of adjusting the scanning angle of the laser radar according to the area data includes the following steps:
s1, laser radar full range scanning, horizontal scanning angle alpha0Angle of vertical scanning beta0；
S2, counting the external rectangle of the target according to the point cloud data returned by the target, and recording the horizontal scanning angle alpha corresponding to the rectangular boundary1Angle of vertical scanning beta1；
S3, configuring a scanning device and controlling water thereofFlat scan angle alpha1Angle of vertical scanning beta1And finishing the adjustment of the scanning angle of the laser radar.
The method for improving the signal-to-noise ratio of the laser radar image in the severe weather adopts the preferable scheme that the working process of the laser radar is as follows:
a) emitting laser pulses, and recording emission time t 1;
b) the laser pulse is transmitted in space and reflected when encountering an object;
c) receiving the emitted laser pulse, and recording the receiving time t 2;
d) and performing time-distance conversion to obtain a single-point target distance d = C (t2-t1)/2, wherein C is the speed of light.
A device for improving the signal-to-noise ratio of a laser radar image in severe weather comprises a point cloud data acquisition module, a target detection and identification module, a laser radar scanning control module and a distance gating module, wherein,
a) the point cloud data acquisition module comprises a laser radar sensor and a time-distance conversion circuit, the laser radar sensor finishes the emission and the reception of laser pulses, the time-distance conversion circuit finishes the measurement and calculation of the distance of a target point, and the measurement and calculation result transmits data to the target detection and identification module through the SPI;
b) the target detection and identification module is deployed at the PS end of the ZYNQ platform and comprises a target detection unit, a target area statistical unit and a target distance statistical unit, wherein target area statistical data are transmitted to the laser radar scanning control module through an SPI (serial peripheral interface), and target distance statistical data are transmitted to the distance gating module through an AXI (advanced extensible interface) bus;
c) the laser radar scanning control module comprises a scanning unit and a driving control unit, and obtains the field angle (alpha) of the target area through the step b1，β1) The drive control unit is provided with a scanning unit to realize the adjustment of the scanning field of view of the scanning unit;
d) and the distance gating module is deployed at the PL end of the ZYNQ platform and comprises a distance judgment unit, the target distance is obtained through the step b, the distance judgment unit filters non-target point cloud data, the target point cloud data is reserved, and high signal-to-noise ratio point cloud data is obtained.
The invention has the advantages that: the problem of overlarge background noise of the original point cloud data caused by laser diffuse reflection in severe weather environments such as rain and snow is solved, and the quality of the laser radar point cloud image in the severe weather environments is improved to a great extent. Meanwhile, the method reduces the data bandwidth and saves the storage space.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
FIG. 1 is a block diagram of a method for improving the signal-to-noise ratio of a laser radar image in severe weather according to the present invention.
FIG. 2 is a diagram of the specific steps of the method for improving the signal-to-noise ratio of the laser radar image in severe weather.
Fig. 3 is a laser radar point cloud image.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.
A method for improving the signal-to-noise ratio of a laser radar image in severe weather comprises the following steps:
s1, scanning the laser radar in a full range to obtain the original point cloud data of the laser radar
The laser radar works as follows:
a) emitting laser pulses, and recording emission time t 1;
b) the laser pulse is transmitted in space and reflected when encountering an object;
c) receiving the emitted laser pulse, and recording the receiving time t 2;
d) performing time-distance conversion to obtain a single-point target distance d = C (t2-t1)/2, wherein C is the speed of light;
the method comprises the following steps of performing deflection scanning on emitted laser according to a certain rule by using a scanning device such as an MEMS scanning mirror to obtain multipoint distance information of a target, namely point cloud data;
s2, deploying a neural network to detect and identify targets to obtain interested target areas and distances of the laser radar images;
s3, adjusting the scanning angle of the laser radar according to the area data, so that the laser radar only scans the interested target area, and the consistency of the point cloud data of the interested target is ensured;
and S4, performing distance gating on the original point cloud data according to the distance data, filtering the non-interesting distance point cloud data, and reserving the interesting distance point cloud data.
In this embodiment, the step S3 of adjusting the scanning angle of the laser radar according to the area data includes the following steps:
s1, laser radar full range scanning, horizontal scanning angle alpha0Angle of vertical scanning beta0；
S2, counting the external rectangle of the target according to the point cloud data returned by the target, and recording the horizontal scanning angle alpha corresponding to the rectangular boundary1Angle of vertical scanning beta1；
S3, configuring a scanning device and controlling its horizontal scanning angle alpha1Angle of vertical scanning beta1And finishing the adjustment of the scanning angle of the laser radar.
A device for improving the signal-to-noise ratio of a laser radar image in severe weather comprises a point cloud data acquisition module, a target detection and identification module, a laser radar scanning control module and a distance gating module, wherein,
a) the point cloud data acquisition module comprises a laser radar sensor and a time-distance conversion circuit, the laser radar sensor finishes the emission and the reception of laser pulses, the time-distance conversion circuit finishes the measurement and calculation of the distance of a target point, and the measurement and calculation result transmits data to the target detection and identification module through the SPI;
b) the target detection and identification module is deployed at the PS end of the ZYNQ platform and comprises a target detection unit, a target area statistical unit and a target distance statistical unit, wherein target area statistical data are transmitted to the laser radar scanning control module through an SPI (serial peripheral interface), and target distance statistical data are transmitted to the distance gating module through an AXI (advanced extensible interface) bus;
c) the laser radar scanning control module comprises a scanning unit and a driving control unit, and obtains the field angle (alpha) of the target area through the step b1，β1) The drive control unit is provided with a scanning unit to realize the adjustment of the scanning field of view of the scanning unit;
d) and the distance gating module is deployed at the PL end of the ZYNQ platform and comprises a distance judgment unit, the target distance is obtained through the step b, the distance judgment unit filters non-target point cloud data, the target point cloud data is reserved, and high signal-to-noise ratio point cloud data is obtained.
The method solves the problems of overlarge background noise of the original point cloud data and poor quality of the point cloud image in the severe weather environment such as rain, snow and the like, simultaneously solves the problem of too little target point cloud data caused by a single distance gating scheme, and improves the quality of the laser radar point cloud image in the severe weather environment to a greater extent.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. A method for improving the signal-to-noise ratio of a laser radar image in severe weather is characterized by comprising the following steps: the method comprises the following steps:
s1, scanning the laser radar in a full range to obtain original point cloud data of the laser radar;
s2, deploying a neural network to detect and identify targets to obtain interested target areas and distances of the laser radar images;
s3, adjusting the scanning angle of the laser radar according to the area data, so that the laser radar only scans the interested target area, and the consistency of the point cloud data of the interested target is ensured;
and S4, performing distance gating on the original point cloud data according to the distance data, filtering the non-interesting distance point cloud data, and reserving the interesting distance point cloud data.
2. The method for improving the signal-to-noise ratio of the laser radar image in the severe weather according to claim 1, wherein the method comprises the following steps: step S3, adjusting the scanning angle of the lidar according to the region data, which includes the following steps:
s1, laser radar full range scanning, horizontal scanning angle alpha0Angle of vertical scanning beta0；
S2, counting the external rectangle of the target according to the point cloud data returned by the target, and recording the horizontal scanning angle alpha corresponding to the rectangular boundary1Angle of vertical scanning beta1；
S3, configuring a scanning device and controlling its horizontal scanning angle alpha1Angle of vertical scanning beta1And finishing the adjustment of the scanning angle of the laser radar.
3. The method for improving the signal-to-noise ratio of the laser radar image in the severe weather according to claim 1, wherein: the laser radar works as follows:
a) emitting laser pulses, and recording emission time t 1;
b) the laser pulse is transmitted in space and reflected when encountering an object;
c) receiving the emitted laser pulse, and recording the receiving time t 2;
d) and performing time-distance conversion to obtain a single-point target distance d = C (t2-t1)/2, wherein C is the speed of light.
4. The utility model provides a improve laser radar image signal-to-noise ratio's device under bad weather which characterized in that: comprises a point cloud data acquisition module, a target detection and identification module, a laser radar scanning control module and a range gating module, wherein,
a) the point cloud data acquisition module comprises a laser radar sensor and a time-distance conversion circuit, the laser radar sensor finishes the emission and the reception of laser pulses, the time-distance conversion circuit finishes the measurement and calculation of the distance of a target point, and the measurement and calculation result transmits data to the target detection and identification module through the SPI;
b) the target detection and identification module is deployed at the PS end of the ZYNQ platform and comprises a target detection unit, a target area statistical unit and a target distance statistical unit, wherein target area statistical data are transmitted to the laser radar scanning control module through an SPI (serial peripheral interface), and target distance statistical data are transmitted to the distance gating module through an AXI (advanced extensible interface) bus;
c) the laser radar scanning control module comprises a scanning unit and a driving control unit, and obtains the field angle (alpha) of the target area through the step b1，β1) The drive control unit is provided with a scanning unit to realize the adjustment of the scanning field of view of the scanning unit;
d) and the distance gating module is deployed at the PL end of the ZYNQ platform and comprises a distance judgment unit, the target distance is obtained through the step b, the distance judgment unit filters non-target point cloud data, the target point cloud data is reserved, and high signal-to-noise ratio point cloud data is obtained.
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