CN117805845A - Down-sampling method and system for mechanical rotary laser radar point cloud - Google Patents
Down-sampling method and system for mechanical rotary laser radar point cloud Download PDFInfo
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Abstract
The invention relates to the technical field of laser radars, and discloses a downsampling method and a downsampling system for a mechanical rotary laser radar point cloud, which are applied to the downsampling system of the mechanical rotary laser radar point cloud, wherein the downsampling method comprises the following steps: constructing by using the vertical angle of a mechanical rotary laser radar transmitter and the sequence of the laser beams emitted by the same laser transmitter, and generating a point cloud index map; setting an interested index range according to the needs in the row index direction and the column index direction respectively; uniformly covering a preset number of sampling intervals in a column index direction or a row index direction; the point cloud is sampled within the index range of interest. The sampling interval is uniformly covered on the point cloud index map with the interested index range and is used for covering part of the point clouds, so that the number of the point clouds is uniformly reduced. In this way, the spatial structure of the point cloud can be completely maintained, and meanwhile, the extraction of the region of interest can be performed.
Description
Technical Field
The application belongs to the technical field of laser radars, and relates to a downsampling method and a downsampling system for a mechanical rotary laser radar point cloud.
Background
The current point cloud downsampling method mainly comprises the following 3 steps:
one is voxel downsampling: the method comprises the steps of voxelizing a point cloud space, wherein each voxelized grid is called a voxel, the voxelized grids are divided into tiny grids to contain some points, and then averaging or weighted averaging the points to obtain a point so as to replace all the points in the original grid. Although the method can keep certain spatial structure information, the spatial structure information of small objects nearby is likely to be lost because the grids at different positions are the same in size.
One is random downsampling: the method comprises the steps of firstly designating the downsampled points, then removing random points to perform sampling operation, and accurately controlling the output quantity of the point cloud, wherein the downsampled points are too random to retain the space structure information of the point cloud.
One is curvature downsampling: the larger the curvature of the point cloud, the more the number of sampling points is, and for the targets with large curvature, rich space structure information can be reserved, but the surface curvature of the targets such as vehicles, pedestrians, buildings and the like is small, so that the space structure information of the targets can be lost.
At present, most of the perception and SLAM tasks of the automatic driving vehicle are based on the laser radar, and the laser radar can provide high-precision three-dimensional information of the surrounding environment, but because the data size of the point cloud of the laser radar is large, if all the point clouds are processed, the point cloud is generally subjected to downsampling at the upstream of the perception and SLAM tasks. Meanwhile, most of sensing tasks and SLAM tasks hope that the input point cloud can keep a space structure, but no current downsampling method can completely keep the space structure of the point cloud.
In addition, there is also a design from the laser radar hardware level in the prior art, i.e. by increasing the rotation frequency of the point cloud, each line is sampled uniformly. Not all mechanically rotating laser radars support adjusting the rotation frequency and this method cannot be used to extract the region of interest.
Disclosure of Invention
The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview, and is intended to neither identify key/critical elements nor delineate the scope of such embodiments, but is intended as a prelude to the more detailed description that follows.
In order to solve the problems in the related art, embodiments of the present disclosure provide a downsampling method and system for a mechanically rotating laser radar point cloud, so as to solve the problem in the prior art that the spatial structure of the point cloud cannot be completely preserved in the laser radar application.
In some embodiments, a downsampling method for a mechanically rotating laser radar point cloud is provided, applied to a downsampling system of the mechanically rotating laser radar point cloud;
the method comprises the following steps:
s10, each laser emitter in the mechanical rotary laser radar emits a laser beam to generate a frame of point cloud; the one-frame point cloud is a point cloud set generated by laser emitted by each laser emitter of the mechanical rotary radar in 360 degrees;
s20, sequentially reconstructing the serial numbers of the laser transmitters according to the vertical angle of the laser transmitters;
s30, generating a point cloud index map by taking the serial number of the reconstructed laser transmitter as an ordinate and the serial number of the laser beam emitted by the same laser transmitter as an abscissa;
s40, setting an interested index range according to the needs in the row index direction and the column index direction respectively;
s50, uniformly covering a preset number of sampling intervals in the column index direction or the row index direction; wherein the sampling interval is a grid layer for eliminating content in the column index direction or in the row index direction;
s60, sampling the point cloud within the index range of interest.
Preferably, the specific process of constructing the point cloud index map is as follows:
sequentially generating a multi-layer point cloud index map by using the three-dimensional coordinates x, y, z and intensity of the point cloud;
and obtaining a 4-layer point cloud index map.
Preferably, in step S10, when the laser transmitter transmits the laser beam, the laser beam is transmitted in a fixed rotation direction and at a fixed interval angle.
Preferably, the number of laser beams emitted per 360 ° rotation of each laser emitter is 1800.
In some embodiments, a downsampling system for a mechanically rotating laser radar point cloud is disclosed, comprising:
the uniform emission module is used for emitting laser beams by each laser emitter in the mechanical rotary laser radar to generate a frame of point cloud; the one-frame point cloud is a point cloud set generated by laser emitted by each laser emitter of the mechanical rotary radar in 360 degrees;
the serial number reconstruction module is used for sequentially reconstructing serial numbers of the laser transmitters according to the vertical angle of the laser transmitters;
the point cloud index map generating module is used for generating a point cloud index map by taking the serial number of the reconstructed laser transmitter as an ordinate and the serial number of the laser beam emitted by the same laser transmitter as an abscissa;
the index area setting module is used for setting an interested index range according to the needs in the row index direction and the column index direction respectively;
the insertion interval module is used for uniformly covering a preset number of sampling intervals in the column index direction or the row index direction; wherein the sampling interval is a grid layer for eliminating content in the column index direction or in the row index direction;
and the sampling module is used for sampling the point cloud in the index range of interest.
In some embodiments, an electronic device is disclosed that includes a memory, a processor, and a computer program stored on the memory and executable on the processor that, when executed, performs a downsampling method for a mechanically rotating laser radar point cloud as described above.
In some embodiments, a computer readable storage medium having a computer program stored thereon, the corresponding program being executed by a processor to perform a downsampling method for a mechanically rotating laser radar point cloud as described above is disclosed.
The downsampling method and the downsampling system for the mechanically rotary laser radar point cloud provided by the embodiment of the disclosure can realize the following technical effects:
the embodiment of the disclosure utilizes the vertical angle of a mechanical rotary laser radar transmitter and the sequence construction of laser beams emitted by the same laser transmitter to generate a point cloud index map; the sampling interval is uniformly covered on the point cloud index map with the index range of interest and is used for covering part of the point clouds, so that the number of the point clouds is uniformly reduced. In this way, the spatial structure of the point cloud can be completely maintained, and meanwhile, the extraction of the region of interest can be performed.
The foregoing general description and the following description are exemplary and explanatory only and are not restrictive of the application.
Drawings
One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which like reference numerals refer to similar elements, and in which:
fig. 1 is a schematic flow diagram of a downsampling method for a mechanically rotating laser radar point cloud according to an embodiment of the present disclosure;
FIG. 2 is a two-dimensional point cloud index map provided by an embodiment of the present disclosure;
FIG. 3 is a point cloud index map with index ranges of interest provided by an embodiment of the present disclosure;
FIG. 4 is a point cloud index map uniformly covering sampling intervals in the column direction provided by an embodiment of the present disclosure;
FIG. 5 is a schematic diagram of a downsampling system for a mechanically rotary laser radar point cloud provided by an embodiment of the present disclosure;
fig. 6 is a schematic diagram of an electronic device for detecting availability status of a mine card unloading point according to an embodiment of the present disclosure.
Detailed Description
So that the manner in which the features and techniques of the disclosed embodiments can be understood in more detail, a more particular description of the embodiments of the disclosure, briefly summarized below, may be had by reference to the appended drawings, which are not intended to be limiting of the embodiments of the disclosure. In the following description of the technology, for purposes of explanation, numerous details are set forth in order to provide a thorough understanding of the disclosed embodiments. However, one or more embodiments may still be practiced without these details. In other instances, well-known structures and systems are shown simplified in order to simplify the drawings.
The following description and the drawings sufficiently illustrate specific embodiments of the invention to enable those skilled in the art to practice them. Other embodiments may involve structural, logical, electrical, process, and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in, or substituted for, those of others. The scope of embodiments of the invention encompasses the full ambit of the claims, as well as all available equivalents of the claims. Embodiments may be referred to herein, individually or collectively, by the term "invention" merely for convenience and without intending to voluntarily limit the scope of a corresponding application to any single invention or inventive concept if more than one is in fact disclosed. Relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, or automobile that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, or automobile. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of additional like elements in a process, method or automobile comprising the element. Various embodiments are described herein in a progressive manner, each embodiment focusing on differences from other embodiments, and identical and similar parts between the various embodiments are sufficient to be seen with each other. The method, product and the like disclosed in the examples are relatively simple to describe because they correspond to the method parts disclosed in the examples, and the relevant points are only referred to the description of the method parts.
At present, most of the perception and SLAM tasks of the automatic driving vehicle are based on the laser radar, and the laser radar can provide high-precision three-dimensional information of the surrounding environment, but because the data size of the point cloud of the laser radar is large, if all the point clouds are processed, the point cloud is generally subjected to downsampling at the upstream of the perception and SLAM tasks. Meanwhile, most of sensing tasks and SLAM tasks hope that the input point cloud can keep a space structure, but no current downsampling method can completely keep the space structure of the point cloud.
In addition, there is also a design from the laser radar hardware level in the prior art, i.e. by increasing the rotation frequency of the point cloud, each line is sampled uniformly. Not all mechanically rotating laser radars support adjusting the rotation frequency and this method cannot be used to extract the region of interest.
To address the problems in the related art, embodiments of the present disclosure provide a downsampling method and system for a mechanically rotating laser radar point cloud.
Referring to fig. 1, an embodiment of the present disclosure provides a method for detecting an availability status of an unloading point of a mine card, which is applied to a downsampling system of a mechanically rotating laser radar point cloud.
The driving background is used for planning a travel route of the mine card, acquiring laser radar data, analyzing and calculating, and identifying the availability of a preset unloading point.
Correspondingly, referring to fig. 3, a downsampling method for a mechanically rotating laser radar point cloud in an embodiment of the disclosure is shown. The method comprises the following steps:
s10, each laser emitter in the mechanical rotary laser radar emits a laser beam into a mine to generate a frame. The one-frame point cloud is a point cloud set generated by laser emitted by each laser emitter of the mechanical rotary radar in 360 degrees of rotation.
When the laser transmitters emit laser beams into the mine, the laser beams are emitted in fixed rotation directions and at fixed intervals, and the number of the emitted laser beams is 1800 when each laser transmitter rotates for 360 degrees. The laser transmitter rotates 360 degrees to complete the acquisition of one frame of point cloud data. The index of the simultaneous point cloud is the emission sequence of the laser beams.
S20, reconstructing serial numbers of the laser transmitters in sequence according to the vertical angle of the laser transmitters.
According to the invention, the serial numbers of the laser transmitters are rearranged according to the order of the vertical angles of the transmitters from small to large, and the point cloud is reorganized based on a two-dimensional point cloud index map. The method for constructing the two-dimensional point cloud index map is different from the existing method for obtaining the two-dimensional point cloud depth map based on spherical projection. The spherical projection method is to calculate the pitch angle and the azimuth angle of the point cloud based on the three-dimensional measurement value of the point cloud, and further obtain a depth map. Because the point cloud refracts on the water mist and diffusely reflects on the rough plane, the pitch angle and azimuth angle of the point cloud calculated based on the three-dimensional measurement value of the point cloud may be different from the vertical angle and the rotated angle of the corresponding laser transmitters, the serial numbers of the laser transmitters are not generally arranged in the order of the vertical angles of the transmitters from small to large, and in order to facilitate the extraction of the stability characteristics of the difference, the serial numbers of the laser transmitters are rearranged in the order of the vertical angles of the transmitters from small to large in this embodiment.
In this example, the laser radar with the model HDL-32E is taken as an example, and the serial number of the laser transmitter is reconstructed as shown in Table 1.
TABLE 1
S30, generating a point cloud index map by taking the serial number of the reconstructed laser transmitter as an ordinate and the serial number of the laser beam emitted by the same laser transmitter as an abscissa.
In the embodiment, a laser radar with the model of HDL-32E is taken as an example, and as shown in FIG. 2, a 4-layer two-dimensional point cloud index diagram is constructed by using one frame of point cloud of HDL-32E. Wherein the two-dimensional point cloud index map is represented in the form of a grid.
The point cloud index map has its origin at the lower left corner, its ordinate being the serial number of rearranged laser transmitters and its abscissa being the serial number of laser beams emitted during 360 ° rotation of the same laser transmitter. The two-dimensional coordinates of the grids are indexes of point cloud, and the values of each layer of grids are x, y, z and intensity respectively. x, y, z are three-dimensional coordinates of the point cloud, and intensity is the intensity of the point cloud.
S40, setting the interested index range according to the requirement in the row index direction and the column index direction.
Referring to fig. 3, a point cloud index map with an index range of interest is shown. Where direction n is the row index direction and direction m is the column index direction. The index range of interest is a rectangle with a row index direction 0, a column index direction 0 to a row index direction 30, and a column index direction 1797.
S50, uniformly covering a preset number of sampling intervals in the column index direction or the row index direction. Wherein the sampling interval is a grid layer of the erasure content in the column index direction or in the row index direction.
The present application is not limited to the direction covering the sampling interval. The sampling interval may be inserted in either the column index direction or the row index direction. It should be appreciated that the sampling interval is one or more overlay layers, which need to be uniformly inserted and overlaid on the raster pattern in either the column index direction or the row index direction. In this way, a portion of the index range of interest is regularly and uniformly covered, and the remaining index range of interest can still represent the entire index range of interest.
Referring to fig. 4, a point cloud index map is shown that uniformly covers the sampling interval in the column direction. The boundary of the index range of interest does not change, and the index range of interest can still be obtained. The index range of interest is a rectangle with a row index direction 0, a column index direction 0 to a row index direction 30, and a column index direction 1797.
S60, sampling the point cloud within the index range of interest.
Correspondingly, referring to fig. 5, a downsampling system for a mechanically rotating laser radar point cloud in an embodiment of the present disclosure is shown. The system comprises:
the uniform emission module is used for emitting laser beams by each laser emitter in the mechanical rotary laser radar to generate a frame of point cloud; the one-frame point cloud is a point cloud set generated by laser emitted by each laser emitter of the mechanical rotary radar in 360 degrees;
the serial number reconstruction module is used for sequentially reconstructing serial numbers of the laser transmitters according to the vertical angle of the laser transmitters;
the point cloud index map generating module is used for generating a point cloud index map by taking the serial number of the reconstructed laser transmitter as an ordinate and the serial number of the laser beam emitted by the same laser transmitter as an abscissa;
the index area setting module is used for setting an interested index range according to the needs in the row index direction and the column index direction respectively;
the insertion interval module is used for uniformly covering a preset number of sampling intervals in the column index direction or the row index direction; wherein the sampling interval is a grid layer for eliminating content in the column index direction or in the row index direction;
and the sampling module is used for sampling the point cloud in the index range of interest.
As shown in connection with fig. 6, embodiments of the present disclosure provide a mining card off-load point availability status detection electronic device including a processor (processor) and a memory (memory). Optionally, the corresponding electronic device may further include a communication interface (communication interface) and a bus. The processor, the communication interface and the memory can complete communication with each other through the bus. The communication interface may be used for information transfer. The processor may invoke logic instructions in the memory to perform the downsampling method for mechanically rotating laser radar point clouds of the above-described embodiments.
The disclosed embodiments provide a storage medium storing computer executable instructions configured to perform the above-described downsampling method for a mechanically rotating laser radar point cloud.
The storage medium may be a transitory computer readable storage medium or a non-transitory computer readable storage medium. A non-transitory storage medium comprising: a plurality of media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-only memory (ROM), a random access memory (RAM, randomAccessMemory), a magnetic disk, or an optical disk, or a transitory storage medium.
The above description and the drawings illustrate embodiments of the disclosure sufficiently to enable those skilled in the art to practice them. Other embodiments may involve structural, logical, electrical, process, and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in, or substituted for, those of others. Moreover, the terminology used in the present application is for the purpose of describing embodiments only and is not intended to limit the claims. As used in the description of the embodiments and the claims, the singular forms "a," "an," and "the" (the) are intended to include the plural forms as well, unless the context clearly indicates otherwise. Similarly, the term "and/or" as used in this application is meant to encompass any and all possible combinations of one or more of the associated listed. Furthermore, when used in this application, the terms "comprises," "comprising," and/or "includes," and variations thereof, mean that the stated features, integers, steps, operations, elements, and/or components are present, but that the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof is not precluded. Without further limitation, an element defined by the phrase "comprising one …" does not exclude the presence of other like elements in a process, method or automobile comprising the element. In this context, each embodiment may be described with emphasis on the differences from the other embodiments, and the same similar parts between the various embodiments may be referred to each other. For the methods, products, etc. disclosed in the embodiments, if they correspond to the method sections disclosed in the embodiments, the description of the method sections may be referred to for relevance.
Those of 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 solution. The skilled artisan may use different methods for each particular application to achieve the described functionality, but such implementation should not be considered to be beyond the scope of the embodiments of the present disclosure. It will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the system, system and unit described above may refer to the corresponding process in the foregoing method embodiment, which is not repeated herein.
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 embodiments of the present disclosure. 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). 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. In the description corresponding to the flowcharts and block diagrams in the figures, operations or steps corresponding to different blocks may also occur in different orders than that disclosed in the description, and sometimes no specific order exists between different operations or steps. For example, two consecutive operations or steps may actually be performed substantially in parallel, they may sometimes be performed in reverse order, which may be dependent on the functions involved. 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.
Claims (7)
1. The downsampling method for the mechanically rotary laser radar point cloud is characterized by being applied to a downsampling system of the mechanically rotary laser radar point cloud; the method comprises the following steps:
s10, each laser emitter in the mechanical rotary laser radar emits a laser beam to generate a frame of point cloud; the one-frame point cloud is a point cloud set generated by laser emitted by each laser emitter of the mechanical rotary radar in 360 degrees;
s20, sequentially reconstructing the serial numbers of the laser transmitters according to the vertical angle of the laser transmitters;
s30, generating a point cloud index map by taking the serial number of the reconstructed laser transmitter as an ordinate and the serial number of the laser beam emitted by the same laser transmitter as an abscissa;
s40, setting an interested index range according to the needs in the row index direction and the column index direction respectively;
s50, uniformly covering a preset number of sampling intervals in the column index direction or the row index direction; wherein the sampling interval is a grid layer for eliminating content in the column index direction or in the row index direction;
s60, sampling the point cloud within the index range of interest.
2. The downsampling method for the mechanically rotary laser radar point cloud as recited in claim 1, wherein the specific process of constructing the point cloud index map is as follows:
sequentially generating a multi-layer point cloud index map by using the three-dimensional coordinates x, y, z and intensity of the point cloud;
and obtaining a 4-layer point cloud index map.
3. The down-sampling method for a mechanically rotating laser radar point cloud as recited in claim 1, wherein the laser transmitter emits the laser beam in a fixed rotation direction and at a fixed interval angle when the laser transmitter emits the laser beam in step S10.
4. A down-sampling method for a mechanically rotated laser radar point cloud as recited in claim 3, wherein the number of emitted laser beams per 360 ° rotation of each of said laser transmitters is 1800.
5. A downsampling system for a mechanically rotating laser radar point cloud, comprising:
the uniform emission module is used for emitting laser beams by each laser emitter in the mechanical rotary laser radar to generate a frame of point cloud; the one-frame point cloud is a point cloud set generated by laser emitted by each laser emitter of the mechanical rotary radar in 360 degrees;
the serial number reconstruction module is used for sequentially reconstructing serial numbers of the laser transmitters according to the vertical angle of the laser transmitters;
the point cloud index map generating module is used for generating a point cloud index map by taking the serial number of the reconstructed laser transmitter as an ordinate and the serial number of the laser beam emitted by the same laser transmitter as an abscissa;
the index area setting module is used for setting an interested index range according to the needs in the row index direction and the column index direction respectively;
the insertion interval module is used for uniformly covering a preset number of sampling intervals in the column index direction or the row index direction; wherein the sampling interval is a grid layer for eliminating content in the column index direction or in the row index direction;
and the sampling module is used for sampling the point cloud in the index range of interest.
6. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method of any one of claims 1 to 4 when the program is executed.
7. A computer readable storage medium, on which a computer program is stored, characterized in that the corresponding program, when executed by a processor, implements the method according to any one of claims 1 to 4.
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