CN115685219A - Target detection method and device based on laser scanning and target detection terminal - Google Patents

Target detection method and device based on laser scanning and target detection terminal Download PDF

Info

Publication number
CN115685219A
CN115685219A CN202110876227.2A CN202110876227A CN115685219A CN 115685219 A CN115685219 A CN 115685219A CN 202110876227 A CN202110876227 A CN 202110876227A CN 115685219 A CN115685219 A CN 115685219A
Authority
CN
China
Prior art keywords
scanning
target
area
detected
resolution
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202110876227.2A
Other languages
Chinese (zh)
Inventor
邓永强
徐洋
黄易
代西明
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wuhan Wanji Photoelectric Technology Co Ltd
Original Assignee
Beijing Wanji Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Wanji Technology Co Ltd filed Critical Beijing Wanji Technology Co Ltd
Priority to CN202110876227.2A priority Critical patent/CN115685219A/en
Priority to PCT/CN2022/109163 priority patent/WO2023006101A1/en
Publication of CN115685219A publication Critical patent/CN115685219A/en
Priority to US18/425,687 priority patent/US20240248209A1/en
Pending legal-status Critical Current

Links

Images

Classifications

    • 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
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/04—Systems determining the presence of a target
    • 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
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • 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
    • G01S17/66—Tracking systems using electromagnetic waves other than radio waves
    • 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
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • 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

Landscapes

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

Abstract

The application is applicable to the technical field of laser scanning, and provides a target detection method, a device and a target detection terminal based on laser scanning, wherein the method comprises the following steps: the method comprises the steps of scanning a preset scanning area by adopting a first scanning resolution ratio to obtain a first point cloud of a current period, carrying out target detection on the first point cloud of the current period, determining a fine scanning area and an observation scanning area based on a target to be detected if the target to be detected is detected, scanning the fine scanning area by adopting a second scanning resolution ratio in the next scanning period, and scanning the observation scanning area by adopting a third scanning resolution ratio to obtain a second point cloud.

Description

Target detection method and device based on laser scanning and target detection terminal
Technical Field
The application belongs to the technical field of laser scanning, and particularly relates to a target detection method and device based on laser scanning and a target detection terminal.
Background
Because the laser scanning technology has the characteristics of accurate positioning and high efficiency, the laser scanning technology is often used in the fields of target positioning and tracking and the like.
In a related target positioning and tracking method based on a laser scanning technology, when a target is scanned based on a large scanning range, the position and the motion track of the target are often determined through precise scanning.
However, when the environment of the target changes, the target may be damaged, disappeared, or otherwise damaged, so that the accuracy of the localization tracking is lowered.
Disclosure of Invention
The embodiment of the application provides a target detection method and device based on laser scanning, a target detection terminal and a readable storage medium, and can solve the problem that the positioning tracking precision of a related target positioning tracking method is easily influenced by other factors.
In a first aspect, an embodiment of the present application provides a target detection method based on laser scanning, including:
scanning a preset scanning area by adopting a first scanning resolution to obtain a first point cloud of a current period;
performing target detection on the first point cloud of the current period, and if a target to be detected is detected, determining a fine scanning area and an observation scanning area based on the target to be detected; the fine scanning area corresponds to the position of the target to be detected in the preset scanning area; the observation scanning area is an area except the fine scanning area in the preset scanning area;
in the next scanning period, scanning the fine scanning area by adopting a second scanning resolution, and scanning the observation scanning area by adopting a third scanning resolution to obtain a second point cloud; wherein the second scanning resolution is greater than the first scanning resolution, and the third scanning resolution is less than or equal to the first scanning resolution.
In one embodiment, when the target to be measured is multiple, the fine scanning area is an area corresponding to multiple positions of the multiple targets to be measured in the preset scanning area.
In one embodiment, the method further comprises:
and carrying out target detection on the second point cloud to obtain a fine detection result of the target to be detected.
In one embodiment, the method comprises:
and if a new target appears in the detection result of the second point cloud, taking the new target as a target to be detected, and updating the fine scanning area and the observation scanning area based on the target to be detected.
In one embodiment, the method further comprises:
and if no new target appears in the second point cloud detection result, scanning the preset scanning area by adopting the first scanning resolution ratio in at least one period until the target to be detected is detected.
In one embodiment, the scanning the fine scanning area with the second scanning resolution and the scanning the observation scanning area with the third scanning resolution to obtain the second point cloud includes:
reducing the frame frequency to obtain a second scanning resolution, and scanning the fine scanning area by adopting the second scanning resolution;
and increasing the frame frequency to obtain a third scanning resolution, and scanning the observation scanning area by adopting the third scanning resolution to obtain the second point cloud.
In one embodiment, after the target detection is performed on the first point cloud of the current cycle, the method further includes:
if the target to be detected is not detected in the detection result of the first point cloud, scanning a preset scanning area by adopting a first scanning resolution ratio in the next period to obtain a correspondingly updated first point cloud until the target to be detected is detected in the detection result of the first point cloud.
In a second aspect, an embodiment of the present application provides an object detection apparatus based on laser scanning, including:
the laser scanning module is used for scanning a preset scanning area by adopting a first scanning resolution to obtain a first point cloud of a current period;
the detection module is used for carrying out target detection on the first point cloud in the current period, and if a target to be detected is detected, determining a fine scanning area and an observation scanning area based on the target to be detected; the fine scanning area corresponds to the position of the target to be detected in the preset scanning area; the observation scanning area is an area except the fine scanning area in the preset scanning area;
the laser scanning module is further used for scanning the fine scanning area by adopting a second scanning resolution and scanning the observation scanning area by adopting a third scanning resolution in the next scanning period to obtain a second point cloud; wherein the second scanning resolution is greater than the first scanning resolution, and the third scanning resolution is less than or equal to the first scanning resolution.
In one embodiment, when the target to be measured is multiple, the fine scanning area is an area corresponding to multiple positions of the multiple targets to be measured in the preset scanning area.
In an embodiment, the detection module is further configured to perform target detection on the second point cloud to obtain a fine detection result of the target to be detected.
In an embodiment, the laser scanning module is further configured to, if a new target appears in the detection result of the second point cloud, use the new target as a target to be detected, and update the fine scanning area and the observation scanning area based on the target to be detected.
In an embodiment, the laser scanning module is further configured to scan the preset scanning area by using the first scanning resolution in at least one period until the target to be detected is detected if no new target is present in the second point cloud detection result.
In one embodiment, the laser scanning module comprises:
the first scanning unit is used for reducing the frame frequency to obtain a second scanning resolution, and scanning the fine scanning area by adopting the second scanning resolution;
and the second scanning unit is used for improving the frame frequency to obtain a third scanning resolution, and scanning the observation scanning area by adopting the third scanning resolution to obtain the second point cloud.
In an embodiment, the laser scanning module is further configured to scan a preset scanning area with a first scanning resolution in a next period if the target to be detected is not detected in the detection result of the first point cloud, so as to obtain a correspondingly updated first point cloud until the target to be detected is detected in the detection result of the first point cloud.
In a third aspect, an embodiment of the present application provides an object detection terminal, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the object detection method based on laser scanning according to any one of the first aspect.
In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the method for detecting an object based on laser scanning according to any one of the first aspect is implemented.
In a fifth aspect, the present application provides a computer program product, which when run on a terminal device, causes the terminal device to execute the method for detecting an object based on laser scanning according to any one of the first aspect.
Compared with the prior art, the embodiment of the application has the advantages that: the method comprises the steps of scanning a preset scanning area by adopting a first scanning resolution ratio to obtain a first point cloud of a current period, carrying out target detection on the first point cloud of the current period, determining a fine scanning area and an observation scanning area based on a target to be detected if the target to be detected is detected, scanning the fine scanning area by adopting a second scanning resolution ratio in the next scanning period, and scanning the observation scanning area by adopting a third scanning resolution ratio to obtain a second point cloud.
It is understood that the beneficial effects of the second aspect to the fifth aspect can be referred to the related description of the first aspect, and are not described herein again.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, 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 in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a laser scanning-based target detection system according to an embodiment of the present disclosure;
fig. 2 is a schematic flowchart of a target detection method based on laser scanning according to an embodiment of the present application;
fig. 3 is an application scenario diagram of scanning a preset scanning area with a first scanning resolution according to an embodiment of the present application;
FIG. 4 is a schematic view of an application scenario of a fine scanning area and an observation scanning area provided in an embodiment of the present application;
fig. 5 is another schematic flowchart of a target detection method based on laser scanning according to the second embodiment of the present application;
fig. 6 is a schematic view of an application scenario for scanning based on a newly added target according to a second embodiment of the present application;
fig. 7 is a schematic flowchart of a third exemplary embodiment of a method for detecting an object based on laser scanning;
FIG. 8 is a schematic structural diagram of an object detection apparatus based on laser scanning according to a fourth embodiment of the present disclosure;
fig. 9 is a schematic structural diagram of a target detection terminal according to a fifth embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items and includes such combinations.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather mean "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
The target detection method based on laser scanning provided by the embodiment of the present application may be executed by a target detection terminal, where the target detection terminal is provided with an Optical phase Array LiDAR (OPA LiDAR) and is loaded with application software for executing a program of the target detection method based on laser scanning, and the target detection terminal may be a mobile terminal, a vehicle-mounted device, a computer, or other terminal devices.
Fig. 1 shows a flow chart of a structure of an object detection system 1 based on laser scanning provided by the present application. The above target detection system 1 based on laser scanning is composed of a processing module 101, a laser emitting module 102 and a signal receiving module 103, wherein the processing module 101 is respectively connected with the laser emitting module 102 and the signal receiving module 103 in a communication manner. The laser emission module 102 is configured to emit a corresponding laser signal in a scanning area according to a control instruction sent by the processing module 101, the signal receiving module 103 is configured to receive point cloud data reflected by a target to be detected in the scanning area and return the point cloud data to the processing module 101, the processing module 101 is configured to control laser signal parameters (including but not limited to resolution, frame frequency, and scanning area of the laser signal) of the laser emission module 102 through the control instruction, receive the point cloud data returned by the signal receiving module 102, adjust parameters of the laser signal based on the point cloud data, and update the control instruction; the laser emitting module 102 is specifically composed of a phased array laser radar OPA LiDAR.
In practical application, the processing module 101 sends a control signal to the laser emission module 102, and controls the laser emission module 102 to scan a preset scanning area with a first scanning resolution; collecting first point cloud data reflected by a target to be detected in a preset scanning area in a current scanning period through a signal receiving module 103; the processing module 101 performs target detection according to the first point cloud data, updates the control instruction when a target to be detected is detected, controls the laser emission module 102 to scan the fine scanning area with a second scanning resolution in a next period, and scans the observation scanning area with a third scanning resolution; and acquiring second point cloud data reflected by the target to be measured in the fine scanning area and the observation scanning area in the next period through the signal receiving module 103. The method and the device can detect the target to be detected and determine the change of the surrounding environment of the target to be detected in the preset scanning area, thereby ensuring the safety of the target to be detected and improving the accuracy of target positioning.
Fig. 2 shows a schematic flow chart of an object detection method based on laser scanning provided by the present application, which can be applied to the above object detection terminal by way of example and not limitation.
S101, scanning a preset scanning area by adopting a first scanning resolution ratio to obtain a first point cloud of a current period.
Specifically, after the range of the preset scanning area is determined, a laser signal with a first scanning resolution is emitted in the preset scanning area, the preset scanning area is scanned, and first point cloud data of a current scanning period (a scanning period for scanning the preset scanning area with the first scanning resolution is set, which is referred to as a first scanning period for short) is acquired.
The preset scanning area may be specifically set according to an actual situation, and this embodiment does not specifically limit this.
It can be understood that, in order to improve the efficiency and accuracy of target detection, in general, the preset scanning area may be set as the maximum scanning area of the laser signal emitted by the laser radar.
Specifically, as the main body equipment of the laser radar equipment continuously rotates to emit laser signals when working, the unit of the scanning range corresponding to the laser signals is an azimuth angle; therefore, the preset scanning area is generally an area corresponding to an azimuth angle range of a certain numerical value with a transmitter of the laser radar device as a center.
As shown in fig. 3, an application scenario diagram for scanning a preset scanning area with a first scanning resolution is provided.
As can be seen from fig. 3, a sector area corresponding to a laser radar transmitter as a center, a scanning distance of 200M, and an angle of-45 to 45 ° is scanned as a preset scanning area with a first scanning resolution, and first point cloud data of the preset scanning area in a first scanning period is acquired.
S102, performing target detection on the first point cloud of the current period, and if a target to be detected is detected, determining a fine scanning area and an observation scanning area based on the target to be detected; the fine scanning area corresponds to the position of the target to be detected in the preset scanning area; the observation scanning area is an area other than the fine scanning area in the preset scanning area.
Specifically, after first point cloud data in a preset scanning area in a first scanning period are collected, target detection is performed on the preset scanning area according to the first point cloud data in the first scanning period, if a target to be detected exists in the preset scanning area according to the first point cloud data, position information of the target to be detected in the preset scanning area is determined through the first point cloud data, a fine scanning area is determined based on the position information of the target to be detected in the preset scanning area, and an observation scanning area is determined according to the preset scanning area and the fine scanning area. The point cloud data (point cloud data) refers to a set of vectors in a three-dimensional coordinate system. And in the preset scanning area, the area except the fine scanning area is an observation scanning area.
It should be noted that the position information of the target to be measured in the preset scanning area may be determined according to the distance and angle information between the target to be measured and the laser radar in the first point cloud data.
S103, in the next scanning period, scanning the fine scanning area by adopting a second scanning resolution, and scanning the observation scanning area by adopting a third scanning resolution to obtain a second point cloud; wherein the second scanning resolution is greater than the first scanning resolution, and the third scanning resolution is less than or equal to the first scanning resolution.
Specifically, in the next scanning period (hereinafter referred to as the second scanning period) in which the target to be detected is detected, a laser signal with a second scanning resolution is emitted in the fine scanning region, the fine scanning region is scanned, a laser signal with a third scanning resolution is emitted in the observation scanning region, the observation scanning region is scanned, and second point cloud data of the second scanning period is acquired. The second scanning resolution is greater than the first scanning resolution, and the third scanning resolution is less than or equal to the first scanning resolution.
It should be noted that, it is set that the preset scanning area is coarsely scanned by the first resolution, whether the preset scanning area has the target to be detected and the approximate position information of the target to be detected can be detected, and the fine observation area is scanned by the second scanning resolution which is greater than the first scanning resolution, so that the position information of the target to be detected can be accurately positioned, and the target detection precision is improved.
In one embodiment, when the target to be measured is multiple, the fine scanning area is an area corresponding to multiple positions of the multiple targets to be measured in the preset scanning area.
Specifically, when a plurality of detection targets exist in a preset scanning area according to the first point cloud data, the position information of each target to be detected in the preset scanning area is determined according to the first point cloud data, and areas corresponding to all the position information of all the targets to be detected in the preset scanning area are determined to serve as fine scanning areas.
As shown in fig. 4, a schematic diagram of an application scenario of a fine scanning area and an observation scanning area is provided.
As can be seen from fig. 4, 4 targets to be measured (shown by open circles in the figure) are detected according to the first point cloud data, position information of each target to be measured in the preset scanning area is determined, an area corresponding to the position information of the 4 targets to be measured in the preset scanning area is determined as a fine scanning area, and thus an area other than the fine scanning area in the preset scanning area is determined as an observation scanning area. And emitting a laser signal with a second scanning resolution in the fine scanning area, scanning the fine scanning area, emitting a laser signal with a third scanning resolution in the observation scanning area, scanning the observation scanning area, and acquiring second point cloud data of a second scanning period.
In one embodiment, after the target detection is performed on the first point cloud of the current cycle, the method further includes:
if the target to be detected is not detected in the detection result of the first point cloud, scanning a preset scanning area by adopting a first scanning resolution ratio in the next period to obtain a correspondingly updated first point cloud until the target to be detected is detected in the detection result of the first point cloud.
Specifically, target detection is performed on a preset scanning area according to first point cloud data of a first scanning period, if a detection result of the first point cloud data shows that no target to be detected is detected in the preset scanning area, a laser signal with a first resolution is still emitted in the preset scanning area in a next scanning period (namely a new first scanning period), the preset scanning area is scanned, point cloud data in the preset scanning area in the new first scanning period is acquired and serves as updated first point cloud data, and if a detection result of the updated first point cloud data shows that no target to be detected is detected, the step of scanning the preset scanning area with the first scanning resolution in the next period to obtain a corresponding updated first point cloud is returned to be executed until the target to be detected is detected in the preset scanning area according to the updated first point cloud data.
In the embodiment, the preset scanning area is scanned by adopting the first scanning resolution ratio to obtain the first point cloud of the current period, the first point cloud of the current period is subjected to target detection, if the target to be detected is detected, the fine scanning area and the observation scanning area are determined based on the target to be detected, in the next scanning period, the fine scanning area is scanned by adopting the second scanning resolution ratio, the observation scanning area is scanned by adopting the third scanning resolution ratio to obtain the second point cloud, the change of the surrounding environment of the target to be detected is determined while the target to be detected is detected in the preset scanning area, the safety of the target to be detected is further ensured, and the precision of target positioning is improved.
Example two
The present embodiment is further described in the first embodiment, and reference may be specifically made to the related description of the first embodiment where the same or similar to the first embodiment, and details are not described herein again. As shown in fig. 5, the target detection method based on laser scanning in this embodiment further includes:
and S104, carrying out target detection on the second point cloud to obtain a fine detection result of the target to be detected.
Specifically, after second point cloud data of a fine scanning area and an observation scanning area in a second scanning period are acquired, target detection is performed on the fine scanning area according to the second point cloud data to obtain a fine detection result of the target to be detected (namely, position information of the target to be detected), and meanwhile, target detection is performed on the fine scanning area and the observation scanning area according to the second point cloud data to determine whether a newly added target exists.
It can be understood that after the fine scanning is performed on the fine scanning area with the second resolution that is greater than the first scanning resolution, the accuracy of the position information included in the corresponding fine detection result is higher.
By way of example and not limitation, after the first point cloud data is collected, the first number of the objects to be measured, the first shape and the first position information of each object to be measured may be determined according to the first point cloud data, and a corresponding label may be added to each object to be measured based on the first shape and the first position information of each object to be measured. After the second point cloud data are collected, determining a second quantity of the target to be detected according to the second point cloud data, and if the second quantity is the same as the first quantity, judging that the current detection result is that no newly added target exists; and if the second quantity is greater than the first quantity, determining a second shape and second position information of each target to be detected according to the second point cloud data, matching the first shape and the first position information based on the second shape and the second position information, taking the target to be detected which is not successfully matched as a new target, and adding a new label.
In one embodiment, the method further comprises:
and if a new target appears in the detection result of the second point cloud, taking the new target as a target to be detected, and updating the fine scanning area and the observation scanning area based on the target to be detected.
Specifically, if the detection result of the observation scanning area shows that a newly added target exists, the newly added target is updated to the target to be detected, the position information of the target to be detected in the preset scanning area is determined according to the second point cloud data, the fine scanning area is updated according to the position information of the target to be detected in the preset scanning area, the observation scanning area is updated according to the preset scanning area and the updated fine scanning area, the updated fine scanning area is scanned by adopting the second scanning resolution, and the updated observation scanning area is scanned by adopting the third scanning resolution, so that new second point cloud data is obtained.
As shown in fig. 6, a schematic diagram of an application scenario for scanning based on a newly added target is provided.
As can be seen from fig. 6, 3 newly added targets to be measured (shown as hollow circles in the drawing) are detected according to the second point cloud data, and the position information of the 3 newly added targets in the preset scanning area is determined as a corresponding area to be used as a new fine scanning area, and the new observation scanning area is an area other than the new fine scanning area in the preset scanning area; and emitting a laser signal with a second resolution ratio in the new observation scanning area, scanning the new observation scanning area, emitting a laser signal with a third scanning resolution ratio in the new observation scanning area, scanning the new observation scanning area, and acquiring second point cloud data of a new second scanning period.
In one embodiment, the scanning the fine scanning area with the second scanning resolution and the scanning the observation scanning area with the third scanning resolution to obtain the second point cloud includes:
reducing the frame frequency to obtain a second scanning resolution, and scanning the fine scanning area by adopting the second scanning resolution;
and increasing the frame frequency to obtain a third scanning resolution, and scanning the observation scanning area by adopting the third scanning resolution to obtain the second point cloud.
In particular, the scanning resolution refers in particular to the angular resolution. The frame rate indicates the number of revolutions of the lidar motor in one second. Since the resolution varies with the frame rate, the fine scanning region can be scanned by decreasing the frame rate, adjusting the first scanning resolution to the second scanning resolution, and emitting the laser signal of the second scanning resolution in the fine scanning region; and simultaneously, the frame frequency is increased, the first scanning resolution is adjusted to a third scanning resolution, a laser signal of the third scanning resolution is emitted in the observation scanning area, the observation scanning area is scanned, and second point cloud data of a second scanning period are acquired.
In the embodiment, the fine scanning area is scanned by adopting a larger second resolution, the acquired second point cloud data is used for target detection, and a corresponding fine detection result of the target to be detected is obtained, so that the position information of the target to be detected in the preset scanning area can be accurately positioned, and the target detection precision is improved; meanwhile, whether a new target to be detected exists or not is detected through the second point cloud data, the target to be detected can be positioned, meanwhile, the surrounding environment can be observed, and the target detection efficiency is further improved.
EXAMPLE III
The present embodiment is further described in the first embodiment, and reference may be specifically made to the related description of the first embodiment where the same or similar to the first embodiment, and details are not described herein again. As shown in fig. 7, the target detection method based on laser scanning in this embodiment further includes:
and S105, if no new target appears in the second point cloud detection result, scanning the preset scanning area by adopting the first scanning resolution in at least one period until the target to be detected is detected.
Specifically, if the detection result of the target detection on the fine scanning area and the observation scanning area shows that no new target is added according to the second point cloud data, a laser signal with a first scanning resolution is emitted in a preset scanning area in at least one subsequent scanning period, and the preset scanning area is scanned until the target to be detected is detected.
When a new added target is not detected based on the second point cloud detection result, the preset scanning area is scanned for a plurality of periods, so that the real-time monitoring of the preset scanning area is realized, the missing detection phenomenon caused by the occurrence of the new target due to environmental change is avoided, and the accuracy and reliability of target detection are further improved.
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 application.
Example four
Fig. 8 shows a block diagram of an object detection device based on laser scanning according to an embodiment of the present application, which corresponds to the object detection method based on laser scanning according to the foregoing embodiment, and only shows the relevant parts according to the embodiment of the present application for convenience of description.
Referring to fig. 5, the laser scanning based object detecting apparatus 2 includes:
the laser scanning module 201 is configured to scan a preset scanning area by using a first scanning resolution to obtain a first point cloud of a current period;
a detection module 202, configured to perform target detection on the first point cloud in the current period, and if a target to be detected is detected, determine a fine scanning area and an observation scanning area based on the target to be detected; the fine scanning area corresponds to the position of the target to be detected in the preset scanning area; the observation scanning area is an area except the fine scanning area in the preset scanning area;
the laser scanning module 201 is further configured to scan the fine scanning area with a second scanning resolution and scan the observation scanning area with a third scanning resolution in a next scanning period to obtain a second point cloud; wherein the second scanning resolution is greater than the first scanning resolution, and the third scanning resolution is less than or equal to the first scanning resolution.
In one embodiment, when the target to be measured is multiple, the fine scanning area is an area corresponding to multiple positions of the multiple targets to be measured in the preset scanning area.
In an embodiment, the detection module is further configured to perform target detection on the second point cloud to obtain a fine detection result of the target to be detected.
In an embodiment, the laser scanning module is further configured to, if a new target appears in the detection result of the second point cloud, use the new target as a target to be detected, and update the fine scanning area and the observation scanning area based on the target to be detected.
In an embodiment, the laser scanning module is further configured to scan the preset scanning area by using the first scanning resolution in at least one period until the target to be detected is detected if no new target is present in the second point cloud detection result.
In one embodiment, the laser scanning module comprises:
the first scanning unit is used for reducing the frame frequency to obtain a second scanning resolution, and scanning the fine scanning area by adopting the second scanning resolution;
and the second scanning unit is used for improving the frame frequency to obtain a third scanning resolution, and scanning the observation scanning area by adopting the third scanning resolution to obtain the second point cloud.
In an embodiment, the laser scanning module is further configured to scan a preset scanning area with a first scanning resolution in a next period if the target to be detected is not detected in the detection result of the first point cloud, so as to obtain a correspondingly updated first point cloud until the target to be detected is detected in the detection result of the first point cloud.
In the embodiment, the preset scanning area is scanned by adopting the first scanning resolution ratio to obtain the first point cloud of the current period, the first point cloud of the current period is subjected to target detection, if the target to be detected is detected, the fine scanning area and the observation scanning area are determined based on the target to be detected, in the next scanning period, the fine scanning area is scanned by adopting the second scanning resolution ratio, the observation scanning area is scanned by adopting the third scanning resolution ratio to obtain the second point cloud, the change of the surrounding environment of the target to be detected is determined while the target to be detected is detected in the preset scanning area, the safety of the target to be detected is further ensured, and the precision of target positioning is improved.
It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.
EXAMPLE five
Fig. 9 is a schematic structural diagram of a target detection terminal according to an embodiment of the present application. As shown in fig. 9, the object detection terminal 9 of this embodiment includes: at least one processor 90 (only one shown in fig. 9), a memory 91, and a computer program 92 stored in the memory 91 and executable on the at least one processor 90, the processor 90 implementing the steps in any of the various laser scanning based object detection method embodiments described above when executing the computer program 92.
The target detection terminal 9 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The object detection terminal may include, but is not limited to, a processor 90, a memory 91. Those skilled in the art will appreciate that fig. 9 is only an example of the target detection terminal 9, and does not constitute a limitation to the target detection terminal 9, and may include more or less components than those shown in the drawings, or combine some components, or different components, for example, may further include an input/output device, a network access device, and the like.
The Processor 90 may be a Central Processing Unit (CPU), and the Processor 90 may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 91 may be an internal storage unit of the target detecting terminal 9 in some embodiments, for example, a hard disk or a memory of the target detecting terminal 9. The memory 91 may also be an external storage device of the target detecting terminal 9 in other embodiments, for example, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital Card (SD), a Flash memory Card (Flash Card), etc. provided on the target detecting terminal 9. Further, the memory 91 may also include both an internal storage unit and an external storage device of the object detection terminal 9. The memory 91 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, and other programs, such as program codes of the computer program. The memory 91 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. For the specific working processes of the units and modules in the system, reference may be made to the corresponding processes in the foregoing method embodiments, which are not described herein again.
The embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the above-mentioned method embodiments.
The embodiments of the present application provide a computer program product, which when running on a mobile terminal, enables the mobile terminal to implement the steps in the above method embodiments when executed.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing apparatus/terminal apparatus, a recording medium, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a usb-drive, a removable hard drive, a magnetic or optical disk, etc. In some jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and proprietary practices.
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.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other ways. For example, the above-described apparatus/network device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implementing, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should 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; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims (10)

1. A target detection method based on laser scanning is characterized by comprising the following steps:
scanning a preset scanning area by adopting a first scanning resolution to obtain a first point cloud of a current period;
performing target detection on the first point cloud of the current period, and if a target to be detected is detected, determining a fine scanning area and an observation scanning area based on the target to be detected; the fine scanning area corresponds to the position of the target to be detected in the preset scanning area; the observation scanning area is an area except the fine scanning area in the preset scanning area;
in the next scanning period, scanning the fine scanning area by adopting a second scanning resolution, and scanning the observation scanning area by adopting a third scanning resolution to obtain a second point cloud; wherein the second scanning resolution is greater than the first scanning resolution, and the third scanning resolution is less than or equal to the first scanning resolution.
2. The method according to claim 1, wherein when the target to be measured is plural, the fine scanning area is an area corresponding to a plurality of positions of the plural targets to be measured in the preset scanning area.
3. The method of claim 1, further comprising:
and carrying out target detection on the second point cloud to obtain a fine detection result of the target to be detected.
4. The method of claim 3, wherein the method comprises:
and if a new target appears in the detection result of the second point cloud, taking the new target as a target to be detected, and updating the fine scanning area and the observation scanning area based on the target to be detected.
5. The method of claim 4, further comprising:
and if no newly added target appears in the second point cloud detection result, scanning the preset scanning area by adopting the first scanning resolution in at least one period until a target to be detected is detected.
6. The method of claim 1, wherein scanning the fine scan area with a second scan resolution and scanning the observation scan area with a third scan resolution to obtain a second point cloud comprises:
reducing the frame frequency to obtain a second scanning resolution, and scanning the fine scanning area by adopting the second scanning resolution;
and increasing the frame frequency to obtain a third scanning resolution, and scanning the observation scanning area by adopting the third scanning resolution to obtain the second point cloud.
7. The method of claim 1, wherein after the target detection of the first point cloud of the current cycle, further comprising:
if the target to be detected is not detected in the detection result of the first point cloud, scanning a preset scanning area by adopting a first scanning resolution ratio in the next period to obtain a correspondingly updated first point cloud until the target to be detected is detected in the detection result of the first point cloud.
8. An object detection device based on laser scanning, characterized by comprising:
the laser scanning module is used for scanning a preset scanning area by adopting a first scanning resolution to obtain a first point cloud of a current period;
the detection module is used for carrying out target detection on the first point cloud in the current period, and if a target to be detected is detected, determining a fine scanning area and an observation scanning area based on the target to be detected; the fine scanning area corresponds to the position of the target to be detected in the preset scanning area; the observation scanning area is an area except the fine scanning area in the preset scanning area;
the laser scanning module is further used for scanning the fine scanning area by adopting a second scanning resolution and scanning the observation scanning area by adopting a third scanning resolution in the next scanning period to obtain a second point cloud; wherein the second scanning resolution is greater than the first scanning resolution, and the third scanning resolution is less than or equal to the first scanning resolution.
9. An object detection terminal comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 7.
CN202110876227.2A 2021-07-30 2021-07-30 Target detection method and device based on laser scanning and target detection terminal Pending CN115685219A (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN202110876227.2A CN115685219A (en) 2021-07-30 2021-07-30 Target detection method and device based on laser scanning and target detection terminal
PCT/CN2022/109163 WO2023006101A1 (en) 2021-07-30 2022-07-29 Target detection method and apparatus based on laser scanning, and target detection terminal
US18/425,687 US20240248209A1 (en) 2021-07-30 2024-01-29 Target detection method and device based on laser scanning

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110876227.2A CN115685219A (en) 2021-07-30 2021-07-30 Target detection method and device based on laser scanning and target detection terminal

Publications (1)

Publication Number Publication Date
CN115685219A true CN115685219A (en) 2023-02-03

Family

ID=85060143

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110876227.2A Pending CN115685219A (en) 2021-07-30 2021-07-30 Target detection method and device based on laser scanning and target detection terminal

Country Status (2)

Country Link
CN (1) CN115685219A (en)
WO (1) WO2023006101A1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116884250B (en) * 2023-07-12 2024-01-26 凉山州交通运输应急指挥中心 Early warning method based on laser radar and expressway early warning system

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9651417B2 (en) * 2012-02-15 2017-05-16 Apple Inc. Scanning depth engine
US10310064B2 (en) * 2016-08-15 2019-06-04 Qualcomm Incorporated Saliency based beam-forming for object detection
US10763290B2 (en) * 2017-02-22 2020-09-01 Elwha Llc Lidar scanning system
US20180306905A1 (en) * 2017-04-20 2018-10-25 Analog Devices, Inc. Method of Providing a Dynamic Region of interest in a LIDAR System
US11415675B2 (en) * 2017-10-09 2022-08-16 Luminar, Llc Lidar system with adjustable pulse period
US11988748B2 (en) * 2018-09-24 2024-05-21 Lawrence Livermore National Security, Llc System and method for adaptable lidar imaging

Also Published As

Publication number Publication date
WO2023006101A1 (en) 2023-02-02

Similar Documents

Publication Publication Date Title
US11054518B2 (en) Method and apparatus for determining obstacle speed
CN109490825B (en) Positioning navigation method, device, equipment, system and storage medium
CN110991575B (en) Asset inventory method and device, readable storage medium and robot
CN110873883B (en) Positioning method, medium, terminal and device integrating laser radar and IMU
CN112595323A (en) Robot and drawing establishing method and device thereof
CN112305521B (en) Double-laser-radar relative position calibration method, device, equipment and storage medium
CN112926218A (en) Method, device, equipment and storage medium for acquiring clearance
CN111537967B (en) Radar deflection angle correction method and device and radar terminal
CN113391305B (en) False target suppression method and device for multi-radar fusion and terminal equipment
CN111832634B (en) Foreign matter detection method, foreign matter detection system, terminal device and storage medium
CN115690475A (en) Target detection method and device, electronic equipment and readable storage medium
CN115792953A (en) Positioning method and system based on laser radar and readable storage medium
CN114820749A (en) Unmanned vehicle underground positioning method, system, equipment and medium
CN113459088B (en) Map adjustment method, electronic device and storage medium
CN115685219A (en) Target detection method and device based on laser scanning and target detection terminal
CN108693517B (en) Vehicle positioning method and device and radar
JP2022087822A (en) Radar tracking method, noise removal method, device and instrument
CN113625249A (en) Reflector positioning method, robot and computer readable storage medium
CN112967347A (en) Pose calibration method and device, robot and computer readable storage medium
CN113391270A (en) False target suppression method and device for multi-radar point cloud fusion and terminal equipment
CN116449329B (en) Method, system, equipment and storage medium for disambiguating speed of millimeter wave radar
CN115685130A (en) Target identification method and device based on millimeter wave radar, electronic equipment and medium
CN118244220A (en) Radar parameter adjustment method, radar parameter adjustment device, radar and storage medium
CN115453551A (en) Radar control method, device, terminal equipment and computer readable storage medium
CN111136689B (en) Self-checking method and device

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
TA01 Transfer of patent application right
TA01 Transfer of patent application right

Effective date of registration: 20231208

Address after: 430000, 7th floor, Building 3, Phase II, Modern Service Industry Demonstration Base, Huazhong University of Science and Technology Science Park, Guandong Street, Donghu New Technology Development Zone, Wuhan City, Hubei Province

Applicant after: Wuhan Wanji Photoelectric Technology Co.,Ltd.

Address before: 100000 Wanji space, building 12, Zhongguancun Software Park, yard 8, Dongbeiwang West Road, Haidian District, Beijing

Applicant before: BEIJING WANJI TECHNOLOGY Co.,Ltd.