CN118033652A - Echo data processing method, device, medium and equipment - Google Patents
Echo data processing method, device, medium and equipment Download PDFInfo
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Abstract
The application discloses an echo data processing method and device, a medium and equipment. The method comprises the following steps: judging according to the initial point cloud image, if the target point is an unreliable point, determining an echo region to which the target point belongs in a histogram corresponding to any target point; and determining a target echo corresponding to the target point in the echo region. The method solves the problem of inaccurate ranging caused by noise echo output by the existing method due to environmental interference.
Description
Technical Field
The present application relates to the field of lidar, and in particular, to a method and apparatus for processing echo data, a medium, and a device.
Background
Laser radar products generally utilize a light source to emit laser light covering a large detection area, and a SPAD (Single Photon Avalanche Diode ) receiving device is used to receive the laser beam, so as to determine the distance of a target object according to the receiving time. In a specific ranging process, an echo in the histogram is searched according to the histogram information output by the SPAD, and the distance information of the test object is obtained according to the echo information.
However, due to the influence of environmental interference and dark current, a plurality of echo information can appear in the histogram, and the recognition and selection of the echo information of the real object are interfered, so that the ranging accuracy of the laser radar product is affected. If the recognition is wrong, the SPAD directly outputs noise points, so that the ranging is inaccurate. In the current ranging method, the maximum echo is usually selected as an output signal according to the intensity, however, the method cannot accurately select the real object echo, and the ranging accuracy is low.
Disclosure of Invention
In view of the above, the application provides an echo data processing method, an echo data processing device, a medium and an echo data processing device, which solve the problem that the conventional method is interfered by the environment to output noise echo, so that the ranging is inaccurate.
According to an aspect of the present application, there is provided an echo data processing method including:
Judging according to the initial point cloud image, if the target point is an unreliable point, determining an echo region to which the target point belongs in a histogram corresponding to the target point;
And determining a target echo corresponding to the target point in the echo region.
Optionally, the method further comprises:
And in the initial point cloud image, judging whether the target point is the unreliable point according to the signal-to-noise ratio corresponding to the target point.
Optionally, after the determining whether the target point is the untrusted point according to the signal-to-noise ratio corresponding to the target point, the method further includes:
if the target point is an unreliable point, the target point is taken as a center, and a reference range is determined according to a preset distance;
If no other pixel points exist in the reference range, determining the target point as an isolated point;
and determining the echo region of the isolated point according to the echo region of the reference point corresponding to the isolated point.
Optionally, the method further comprises:
And determining a first preset number of points closest to the isolated point as datum points corresponding to the isolated point.
Optionally, the determining the target echo corresponding to the target point in the echo region includes:
Determining a second preset number of echoes as alternative echoes in an echo region to which the target point belongs;
And determining one alternative echo as a target echo corresponding to the target point according to the echo intensity corresponding to each alternative echo.
Optionally, the determining, according to the echo intensity corresponding to each of the candidate echoes, that one candidate echo is the target echo corresponding to the target point includes:
and sequentially judging whether each alternative echo is credible according to the sequence from the high intensity to the low intensity, if so, determining that the alternative echo is a target echo corresponding to the target point, and ending the judgment.
According to another aspect of the present application, there is provided an echo selecting device, the device comprising:
The area determining module is used for determining an echo area to which the target point belongs in a histogram corresponding to the target point if the target point is an unreliable point according to the initial point cloud image;
and the echo determining module is used for determining the target echo corresponding to the target point in the echo region.
Optionally, the area determining module is configured to:
And in the initial point cloud image, judging whether the target point is the unreliable point according to the signal-to-noise ratio corresponding to the target point.
Optionally, the area determining module is configured to:
if the target point is an unreliable point, the target point is taken as a center, and a reference range is determined according to a preset distance;
If no other pixel points exist in the reference range, determining the target point as an isolated point;
and determining the echo region of the isolated point according to the echo region of the reference point corresponding to the isolated point.
Optionally, the area determining module is configured to:
And determining a first preset number of points closest to the isolated point as datum points corresponding to the isolated point.
Optionally, the echo determination module is configured to:
Determining a second preset number of echoes as alternative echoes in an echo region to which the target point belongs;
And determining one alternative echo as a target echo corresponding to the target point according to the echo intensity corresponding to each alternative echo.
Optionally, the echo determination module is configured to:
and sequentially judging whether each alternative echo is credible according to the sequence from the high intensity to the low intensity, if so, determining that the alternative echo is a target echo corresponding to the target point, and ending the judgment.
According to still another aspect of the present application, there is provided a medium having stored thereon a program or instructions which, when executed by a processor, implement the echo data processing method described above.
According to a further aspect of the present application there is provided an apparatus comprising a storage medium storing a computer program and a processor implementing the echo data processing method described above when the processor executes the computer program.
By means of the technical scheme, the reliability verification is carried out on each point on the basis of carrying out primary pre-judgment on the target echo of each point, if the reliability of a certain point is low, the target echo of the point is reselected, and the target echo obtained by primary pre-judgment is replaced, so that the ranging error caused by an unreliable point is reduced. On the basis, further judgment on the unreliable point is added, if the unreliable point is an isolated point, the target echo region is determined by using the corresponding reference point, and the interference of noise echoes of other regions on the distance measurement is avoided. Through the design, the method optimizes the noise processing logic of the unreliable point, improves the ranging accuracy, and solves the problem of inaccurate ranging caused by noise echo output by the existing method due to environmental interference.
The foregoing description is only an overview of the present application, and is intended to be implemented in accordance with the teachings of the present application in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present application more readily apparent.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
Fig. 1 shows a flow diagram of an echo data processing method according to an embodiment of the present application;
Fig. 2 shows a histogram area division schematic diagram of an echo data processing method according to an embodiment of the present application;
Fig. 3 is a schematic flow chart of another echo data processing method according to an embodiment of the present application;
fig. 4 is a schematic flow chart of another echo data processing method according to an embodiment of the present application;
Fig. 5 shows a block diagram of an echo selecting device according to an embodiment of the present application.
Detailed Description
The application will be described in detail hereinafter with reference to the drawings in conjunction with embodiments. It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other.
In this embodiment, there is provided an echo data processing method, as shown in fig. 1, including:
step 101, judging according to the initial point cloud image, if the target point is an unreliable point, determining an echo region to which the target point belongs in a histogram corresponding to the target point;
and 102, determining a target echo corresponding to the target point in the echo region.
The echo data processing method provided by the embodiment of the application is used for reducing the influence of noise points, selecting the echo of the real object, and further obtaining a more accurate ranging result. Specifically, whether each target point in the initial point cloud image is an unreliable point is firstly judged, if a certain target point is an unreliable point, the echo corresponding to the current target point is considered to be not the echo returned by the target object but noise, so that an echo area to which the target point belongs is firstly determined in a histogram corresponding to the target point, and then a real target echo corresponding to the target point is determined in the echo area. The target point may be each point included in the initial point cloud image, or may be a selected region of interest or a point included in the object.
In this embodiment, the abscissa of the histogram is the return time of the echo, and the ordinate is the echo intensity. The histogram is divided into a plurality of echo regions according to the abscissa. For example, the histogram window has an abscissa of 1023 bins (intervals), each bin being spaced 1ns apart, and the ranging range is 150m. The histogram can be divided into four areas (shown in fig. 2) of blind area, near area, middle area and far area, wherein the blind area is 0-0.5m, the near area is 0.5-30 m, the middle area is 30-120 m, and the far area is 120-150 m, and each echo area division can be set according to practical situations. If the detection distance of the laser radar product is far, more areas can be divided, otherwise, less areas are divided. For example, if the detection distance of the laser radar product is only 30 meters, only two areas of a blind area and a short-distance area can be set; if the detection distance of the lidar product is 400 meters, six or more areas may be provided.
In the actual application process, signals in the dead zone are generally removed, then echoes corresponding to each target point are determined, ranging information corresponding to each point is obtained, and an initial point cloud image is formed. For trusted points in the initial point cloud image, the corresponding initial echo can be directly used as a target echo. However, under the influence of external environment and other factors, there may be an unreliable point in the point cloud, for example, if dust is present in front of the laser radar and a real detection target is behind the dust, then the echo corresponding to the dust is strongest, and in the initial point cloud image obtained by the method, the position of the echo corresponding to the point is the position of the dust, and is not the real detection target. Based on this, for an untrusted point, its corresponding target echo may be re-determined in the histogram corresponding to that point. As in the previous example, the echo corresponding to dust is removed, and the echo corresponding to the real detected object is selected as the new target echo. And then, the distance measurement can be completed by utilizing the return time of each target echo, and the final target distance is obtained. Since the embodiment redetermines the new target echo aiming at the unreliable point, the accuracy of echo selection is improved, and therefore, the target distance obtained based on the target echo is more accurate.
Specifically, for example, dust is present in front of the lidar, and a real detection target is behind the dust, and in the initial point cloud, there is a point where the target point corresponds to the dust, it can be determined that it is an unreliable point. Therefore, in the histogram corresponding to the point corresponding to the dust, the echo region to which the point belongs is determined, as described above, the histogram is divided into a plurality of echo regions, and if the point cloud cluster closest to the dust point is found to belong to the intermediate region by clustering the initial point cloud image, the maximum echo is discarded, the target echo signal located in the intermediate region is selected, and at this time, the redetermined target echo is the echo corresponding to the point in the real detection target. According to the embodiment, through the design, the echo corresponding to the dust is replaced by the echo corresponding to the real detection target, so that the influence of the dust on the distance measurement can be avoided, and the accuracy of the distance measurement is improved.
According to the embodiment, on the basis of performing primary pre-judgment on the target echo of each point, reliability verification is performed on each point, if the reliability of a certain point is low, an echo region to which the point belongs is determined, the target echo is re-determined in the region, and the initial echo obtained by primary pre-judgment is replaced, so that the range error caused by an unreliable point is reduced. Through the design, the embodiment optimizes the noise processing logic of the unreliable point, improves the ranging accuracy, and solves the problem of inaccurate ranging caused by noise echo output by the existing method due to environmental interference.
Further, as a refinement and extension of the foregoing embodiment, for fully explaining the implementation procedure of the embodiment, another echo data processing method is provided, as shown in fig. 3, and the method includes the following steps:
In step 201, in the initial point cloud image, whether the target point is an unreliable point is determined according to the signal-to-noise ratio corresponding to the target point.
In this step, since the signal-to-noise ratio is a ratio of the signal intensity to the noise intensity, if the signal-to-noise ratio is low, the signal intensity is considered to be relatively low, and the noise intensity is relatively high, so that the reliability thereof is low. Based on this, whether each point is an unreliable point can be determined according to the signal-to-noise ratio corresponding to the point, for example, if the signal-to-noise ratio of a certain point is smaller than a preset signal-to-noise ratio threshold, the point is considered to be an unreliable point.
Step 202, if the target point is an unreliable point, determining an echo region to which the target point belongs in a histogram corresponding to the target point.
In step 203, a second preset number of candidate echoes are determined in the echo region to which the target point belongs.
And 204, determining that one alternative echo is a new target echo corresponding to an unreliable point according to the echo intensity corresponding to each alternative echo.
In steps 203-204, for an untrusted point, its corresponding target echo may be re-determined. Specifically, the area where the target echo corresponding to the unreliable point is located is determined, and then a plurality of alternative echoes are determined in the area. For example, if the echo region to which a certain untrusted point belongs is a near-range region, the echoes in the near-range region may be sequentially sorted in order of increasing Intensity, so as to obtain five echoes near_density_1, near_density_2, near_density_3, near_density_4, and near_density_5 having the greatest intensities except for the target echo, and these five echoes may be used as candidate echoes. After the alternative echo is determined, selecting a new target echo corresponding to the untrusted point from the alternative echoes. For example, first, selecting the echo near_density_1 with the largest Intensity from the candidate echoes, if the point corresponding to the candidate echo near_density_1 is a trusted point, taking the candidate echo near_density_1 as a new target echo, otherwise, continuing to judge whether the point corresponding to the candidate echo near_density_2 with the second largest Intensity is a trusted point or not until a new target echo is selected.
Further, on the basis of the foregoing embodiment, the present application further provides another echo data processing method, as shown in fig. 4, including the following steps:
Step 301, in the initial point cloud image, judging whether the target point is an unreliable point according to the signal-to-noise ratio corresponding to the target point.
Step 302, if the target point is an unreliable point, determining a reference range by taking the target point as a center and a preset distance as a radius; if no other pixel points exist in the reference range, determining the target point as an isolated point.
In this step, it can be understood that the isolated point is generally far from other points, and thus the echo region to which the isolated point currently belongs is not generally the echo region to which the pixel point corresponding to the real object belongs. Based on this, if the target point is an unreliable point, it is further determined whether it is an isolated point, and then the echo region of the isolated point is reconfirmed.
Specifically, a reference range centering on the target point is determined, and whether other pixel points exist in the preset range is judged, if no other pixel points exist in the preset range, no other point is considered to exist near the target point, so that the target point is determined to be an isolated point. The reference range may be a circle, a square, etc., for example, the target point may be used as a center of a circle, the preset distance may be used as a radius, and a circle reference range may be determined; the target point can also be used as the center, the preset distance is used as the side length, and the reference range of a square is determined.
Step 303, determining a first preset number of points closest to the isolated point as reference points corresponding to the isolated point; and determining the echo region to which the isolated point belongs according to the echo region to which the reference point corresponding to the isolated point belongs.
In this step, a reference point corresponding to the isolated point is determined, and then an echo region to which the target point belongs can be determined according to the echo region to which the reference point belongs, where the reference point is a point relatively closer to the isolated point among other pixel points. In practical application, a plurality of pixel points closest to the isolated point can be used as reference points, and an echo region of the reference points is used as an echo region of the isolated point, so that the movement of the isolated point is realized through the design, and the echo region of the isolated point is not far away from other points, so that the influence of the isolated point on distance measurement is eliminated. Optionally, if the number of the reference points is 1, the echo region to which the reference point belongs is directly taken as the echo region to which the target point belongs; if the number of the reference points is a plurality of, the echo region to which the target point belongs can be determined according to the number of the reference points corresponding to each region. For example, if the plurality of reference points are just near the boundary between the near zone and the intermediate zone, only one of the echo zones to which the reference point belongs is the near zone, and all the echo zones to which the other reference points belong are the intermediate zones, then the echo zone to which the target point belongs can be determined as the intermediate zone.
And 304, determining a target echo corresponding to the isolated point in an echo region to which the isolated point belongs.
For example, if the echo region to which the isolated point belongs is in the near-distance region, the echoes detected in the near-distance region are sequentially sorted in the order from the higher Intensity to the lower Intensity, so as to obtain five echoes near_density_1, near_density_2, near_density_3, near_density_4, and near_density_5 with the highest Intensity, and these five echoes are used as candidate echoes. After the candidate echoes are determined, one new target echo corresponding to the isolated point is selected from the candidate echoes. For example, first, selecting the echo near_density_1 with the largest Intensity from the candidate echoes, if the point corresponding to the candidate echo near_density_1 is a trusted point, taking the candidate echo near_density_1 as a new target echo, otherwise, continuing to judge whether the point corresponding to the candidate echo near_density_2 with the second largest Intensity is a trusted point or not until a new target echo is selected.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present invention.
Further, as a specific implementation of the echo data processing method, an embodiment of the present application provides an echo data processing device, as shown in fig. 5, where the device includes: the device comprises a region determining module and an echo determining module, wherein:
The area determining module is used for determining an echo area to which the target point belongs in a histogram corresponding to the target point if the target point is an unreliable point according to the initial point cloud image;
and the echo determining module is used for determining the target echo corresponding to the target point in the echo region.
In a specific application scenario, optionally, the area determining module is configured to:
in the initial point cloud image, judging whether the target point is an unreliable point according to the signal-to-noise ratio corresponding to the target point.
In a specific application scenario, optionally, the area determining module is configured to:
If the target point is an unreliable point, the target point is taken as a center, and a reference range is determined according to a preset distance;
if no other pixel points exist in the reference range, determining the target point as an isolated point;
and determining the echo region to which the isolated point belongs according to the echo region to which the reference point corresponding to the isolated point belongs.
In a specific application scenario, optionally, the area determining module is configured to:
determining a first preset number of points closest to the isolated point as reference points corresponding to the isolated point.
In a specific application scenario, optionally, the echo determination module is configured to:
Determining a second preset number of echoes as alternative echoes in an echo region to which the target point belongs;
And determining one alternative echo as a target echo corresponding to the target point according to the echo intensity corresponding to each alternative echo.
In a specific application scenario, optionally, the echo determination module is configured to:
And sequentially judging whether each alternative echo is credible according to the sequence from the high intensity to the low intensity, if so, determining that the alternative echo is a target echo corresponding to the target point, and ending the judgment.
According to still another aspect of the present application, there is provided a medium having stored thereon a program or instructions which, when executed by a processor, implement the echo data processing method described above.
It should be noted that, for other corresponding descriptions of each functional module related to the echo selection device provided by the embodiment of the present application, reference may be made to corresponding descriptions in the above method, which are not repeated herein.
Based on the above method, correspondingly, the embodiment of the application also provides a storage medium, on which a computer program is stored, which when executed by a processor, implements the echo data processing method.
Based on such understanding, the technical solution of the present application may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a U-disk, a mobile hard disk, etc.), and includes several instructions for causing an electronic device (may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective implementation scenario of the present application.
Based on the method shown in fig. 1 to fig. 4 and the virtual device embodiment shown in fig. 5, in order to achieve the above object, an embodiment of the present application further provides an apparatus, which may specifically be a personal computer, a server, a network device, etc., where the electronic apparatus includes a storage medium and a processor; a storage medium storing a computer program; a processor for executing a computer program to implement the echo data processing method as shown in fig. 1 to 4 described above.
Optionally, the electronic device may also include a user interface, a network interface, a camera, radio Frequency (RF) circuitry, sensors, audio circuitry, WI-FI modules, and the like. The user interface may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), etc., and the optional user interface may also include a USB interface, a card reader interface, etc. The network interface may optionally include a standard wired interface, a wireless interface (e.g., bluetooth interface, WI-FI interface), etc.
It will be appreciated by those skilled in the art that the structure of the electronic device provided in this embodiment is not limited to the electronic device, and may include more or fewer components, or may be combined with certain components, or may be arranged with different components.
The storage medium may also include an operating system, a network communication module. An operating system is a program that manages and saves electronic device hardware and software resources, supporting the execution of information handling programs, as well as other software and/or programs. The network communication module is used for realizing communication among all the controls in the storage medium and communication with other hardware and software in the entity equipment.
From the above description of the embodiments, it will be apparent to those skilled in the art that the present application may be implemented by means of software plus necessary general hardware platforms, or may be implemented by hardware.
Those skilled in the art will appreciate that the drawing is merely a schematic illustration of one preferred implementation scenario and that elements or processes in the drawing are not necessarily required to practice the application. Those skilled in the art will appreciate that elements of an apparatus in an implementation may be distributed throughout the apparatus in an implementation as described in the implementation, or that corresponding variations may be located in one or more apparatuses other than the present implementation. The units of the implementation scenario may be combined into one unit, or may be further split into a plurality of sub-units.
The above-mentioned inventive sequence numbers are merely for description and do not represent advantages or disadvantages of the implementation scenario. The foregoing disclosure is merely illustrative of some embodiments of the application, and the application is not limited thereto, as modifications may be made by those skilled in the art without departing from the scope of the application.
Claims (9)
1. An echo data processing method, the method comprising:
Judging according to the initial point cloud image, if the target point is an unreliable point, determining an echo region to which the target point belongs in a histogram corresponding to the target point;
And determining a target echo corresponding to the target point in the echo region.
2. The method according to claim 1, wherein the method further comprises:
And in the initial point cloud image, judging whether the target point is the unreliable point according to the signal-to-noise ratio corresponding to the target point.
3. The method according to claim 2, wherein after said determining whether the target point is the untrusted point according to the signal-to-noise ratio corresponding to the target point, the method further comprises:
if the target point is an unreliable point, the target point is taken as a center, and a reference range is determined according to a preset distance;
If no other pixel points exist in the reference range, determining the target point as an isolated point;
and determining the echo region of the isolated point according to the echo region of the reference point corresponding to the isolated point.
4. A method according to claim 3, further comprising:
And determining a first preset number of points closest to the isolated point as datum points corresponding to the isolated point.
5. The method according to claim 1, wherein determining the target echo corresponding to the target point in the echo region to which the target point belongs comprises:
determining a second preset number of echoes as alternative echoes in an echo region to which the target point belongs;
And determining one alternative echo as a target echo corresponding to the target point according to the echo intensity corresponding to each alternative echo.
6. The method according to claim 5, wherein determining an alternative echo as the target echo corresponding to the target point according to the echo intensity corresponding to each alternative echo comprises:
and sequentially judging whether each alternative echo is credible according to the sequence from the high intensity to the low intensity, if so, determining that the alternative echo is a target echo corresponding to the target point, and ending the judgment.
7. An echo data processing device, the device comprising:
The area determining module is used for determining an echo area to which the target point belongs in a histogram corresponding to the target point if the target point is an unreliable point according to the initial point cloud image;
and the echo determining module is used for determining the target echo corresponding to the target point in the echo region.
8. A storage medium having stored thereon a program or instructions which, when executed by a processor, implement the method of any of claims 1 to 6.
9. An electronic device comprising a storage medium, a processor and a computer program stored on the storage medium and executable on the processor, characterized in that the processor implements the method of any one of claims 1 to 6 when executing the program.
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