CN114026461A - 构建点云帧的方法、目标检测方法、测距装置、可移动平台和存储介质 - Google Patents

构建点云帧的方法、目标检测方法、测距装置、可移动平台和存储介质 Download PDF

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Publication number
CN114026461A
CN114026461A CN202080006494.8A CN202080006494A CN114026461A CN 114026461 A CN114026461 A CN 114026461A CN 202080006494 A CN202080006494 A CN 202080006494A CN 114026461 A CN114026461 A CN 114026461A
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point cloud
frame
points
point
cloud points
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李延召
郝智翔
陈涵
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Publication of CN114026461A publication Critical patent/CN114026461A/zh
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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
    • G01S17/88—Lidar systems specially adapted for specific applications
    • 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
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging

Abstract

一种构建点云帧的方法、目标检测方法、测距装置、可移动平台和存储介质。该构建点云帧的方法包括：获取测距装置依次采集的多个点云点(S501)；根据多个点云点的空间位置信息将多个点云点形成多帧点云帧依次输出(S502)。其中，点云帧中对不同空间位置处的点云点采用的积分时长不同。通过该方法可自适应地调节积分时长和积分空间，使每帧点云帧中的点云点的空间分布更加均匀、合理，更好地刻画扫描场景中的物体信息。

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PCT国内申请，说明书已公开。

Claims (34)

  1. PCT国内申请，权利要求书已公开。
CN202080006494.8A 2020-05-19 2020-05-19 构建点云帧的方法、目标检测方法、测距装置、可移动平台和存储介质 Pending CN114026461A (zh)

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PCT/CN2020/091005 WO2021232227A1 (zh) 2020-05-19 2020-05-19 构建点云帧的方法、目标检测方法、测距装置、可移动平台和存储介质

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WO (1) WO2021232227A1 (zh)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114882339B (zh) * 2022-03-23 2024-04-16 太原理工大学 基于实时稠密点云地图的煤矿巷道孔眼自主识别方法
CN115047471B (zh) * 2022-03-30 2023-07-04 北京一径科技有限公司 确定激光雷达点云分层的方法、装置、设备及存储介质

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CN107817503B (zh) * 2016-09-14 2018-12-21 北京百度网讯科技有限公司 应用于激光点云数据的运动补偿方法和装置
CN108732584B (zh) * 2017-04-17 2020-06-30 百度在线网络技术（北京）有限公司 用于更新地图的方法和装置
CN107817501B (zh) * 2017-10-27 2021-07-13 广东电网有限责任公司机巡作业中心 一种可变扫描频率的点云数据处理方法
AU2018278849B2 (en) * 2018-07-02 2020-11-05 Beijing Didi Infinity Technology And Development Co., Ltd. Vehicle navigation system using pose estimation based on point cloud
CN109934920B (zh) * 2019-05-20 2019-08-09 奥特酷智能科技(南京)有限公司 基于低成本设备的高精度三维点云地图构建方法
CN110849374B (zh) * 2019-12-03 2023-04-18 中南大学 地下环境定位方法、装置、设备及存储介质
CN110850439B (zh) * 2020-01-15 2020-04-21 奥特酷智能科技(南京)有限公司 一种高精度三维点云地图构建方法

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