WO2020237663A1 - 一种多通道激光雷达点云插值的方法和测距装置 - Google Patents

一种多通道激光雷达点云插值的方法和测距装置 Download PDF

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Publication number
WO2020237663A1
WO2020237663A1 PCT/CN2019/089638 CN2019089638W WO2020237663A1 WO 2020237663 A1 WO2020237663 A1 WO 2020237663A1 CN 2019089638 W CN2019089638 W CN 2019089638W WO 2020237663 A1 WO2020237663 A1 WO 2020237663A1
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Prior art keywords
sampling points
interpolation
adjacent
point cloud
channel
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PCT/CN2019/089638
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English (en)
French (fr)
Inventor
龙承辉
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深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2019/089638 priority Critical patent/WO2020237663A1/zh
Priority to CN201980008840.3A priority patent/CN112313534A/zh
Publication of WO2020237663A1 publication Critical patent/WO2020237663A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • 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
    • 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
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00

Definitions

  • the present invention generally relates to the technical field of distance measuring devices, and more particularly to a method and distance measuring device for multi-channel lidar point cloud interpolation.
  • the current lidar adopts single-channel or multi-channel lidar method, but due to the limitation of the principle, the interval between lidars is relatively large, so the interval between sampling point clouds is also relatively large, and the final sampling point cloud is sparse and inconvenient to identify object.
  • the existing technology mainly has the following shortcomings:
  • the angle between the laser radar transmitting and receiving modules is relatively large, resulting in sparse point cloud, which is inconvenient for application software algorithms to identify.
  • Some interpolation methods are carried out at the application layer, and need to accumulate the point cloud in the entire field of view, cluster, identify, and then interpolate. This method requires relatively high computational performance.
  • one aspect of the present invention provides a method for multi-channel lidar point cloud interpolation, and the method includes:
  • the initial point cloud data is obtained by multi-channel lidar detection of the target scene, the initial point cloud data includes sampling points of multiple channels, and each channel contains multiple samples obtained sequentially. Sampling points;
  • At least one first interpolation point is inserted between adjacent sampling points of different channels, and at least one second interpolation point is inserted between adjacent sampling points of the same channel to obtain new point cloud data.
  • ranging device includes a lidar
  • lidar includes:
  • the multi-channel sampling module is used to obtain initial point cloud data, the initial point cloud data is obtained by detecting the target scene through the multi-channel sampling module, and the initial point cloud data includes sampling points of multiple channels, each of which The channel contains multiple sampling points obtained by sampling successively;
  • the interpolation module is used to insert at least one first interpolation point between adjacent sampling points of different channels, and insert at least one second interpolation point between adjacent sampling points of the same channel to obtain new point cloud data.
  • the multi-channel lidar point cloud is interpolated, which can perform fast calculations in the lidar equipment without requiring a large amount of storage and computing resources.
  • two-dimensional interpolation is performed for multi-line lidar, not only inserting at least one first interpolation point between adjacent sampling points of different channels, but also inserting between adjacent sampling points of the same channel
  • At least one second interpolation point is used to interpolate between adjacent sampling points of the multi-line lidar, which reduces the amount of calculation and storage required, increases the number of sampling points, and is more conducive to upper-layer applications using point clouds.
  • Fig. 1 shows a schematic structural diagram of a new point cloud obtained after interpolation in an embodiment of the present invention
  • FIG. 2 shows a partial enlarged view of the schematic structure diagram of the new point cloud obtained after interpolation in FIG. 1;
  • FIG. 3 is a schematic frame diagram of a distance measuring device provided by an embodiment of the present invention.
  • Fig. 4 is a schematic diagram of an embodiment in which a distance measuring device provided by an embodiment of the present invention adopts a coaxial optical path.
  • the interval between the laser transceivers is relatively large, so the interval between the sampling point clouds is also relatively large, and the final sampling point cloud is sparse, which is inconvenient to identify objects.
  • the present invention provides a method for multi-channel lidar point cloud interpolation, and the method includes:
  • the initial point cloud data is obtained by multi-channel lidar detection of the target scene, the initial point cloud data includes sampling points of multiple channels, and each channel contains multiple samples obtained sequentially. Sampling points;
  • At least one first interpolation point is inserted between adjacent sampling points of different channels, and at least one second interpolation point is inserted between adjacent sampling points of the same channel to obtain new point cloud data.
  • the method of the present invention includes: acquiring initial point cloud data, the initial point cloud data is obtained by detecting a target scene through a multi-channel lidar, for example, when a laser beam irradiates an object in a lidar On the surface, the reflected laser light carries information such as position and distance. If the laser beam is scanned according to a certain track, the reflected laser point information will be recorded while scanning, and a large number of laser points will be obtained to form the initial point cloud data.
  • a laser ranging device that emits multiple exit paths
  • a multi-line or multi-channel laser ranging device or module
  • the measurement performed by a multi-line or multi-channel laser ranging device (or module) is called a multi-line or multi-channel measurement.
  • the circuit corresponding to the laser pulse sequence of multiple emission paths is called multi-channel or multi-line.
  • the lidar is a multi-channel lidar, that is, it has multiple exit paths. Therefore, the initial point cloud data includes sampling points of multiple channels, and each channel includes multiple sampling points obtained by sampling sequentially.
  • Figure 1 shows a schematic structural diagram of a new point cloud obtained after interpolation in an embodiment of the present invention
  • Figure 2 shows A partial enlarged view of the schematic diagram of the structure of the new point cloud obtained after interpolation in FIG. 1 is shown.
  • the initial point cloud data is of different sparseness, and the shape can be, for example, a contour like a circle, an ellipse, or other irregular shapes.
  • Figure 1 where Figure 2 is a graph obtained by magnifying any part of the initial point cloud data by a certain factor, which is roughly in a regular array of rows and columns.
  • the adjacent sampling points of different channels include spatially adjacent sampling points of different channels, that is, the multiple columns of sampling points arranged in the longitudinal direction in FIG. 2 are spatially adjacent sampling points of different channels, in a specific example As shown in Figure 2, the lidar is a 6-channel lidar, so the spatially adjacent sampling points of the 6 channels are represented as 6 columns of sampling points.
  • the adjacent sampling points of the same channel include sequential adjacent sampling points of the same channel, that is, multiple sequential adjacent sampling points included in each column in FIG. 2 for sampling.
  • the initial point cloud data is interpolated in the method described in this application.
  • the interpolation method in this application is two-dimensional interpolation, that is, not only Interpolate between adjacent sampling points of different channels, and also interpolate between adjacent sampling points of the same channel. The method reduces the amount of calculation required and the space required for storage, increases the number of sampling points, and more Conducive to the use of point clouds by upper-level applications.
  • At least one first interpolation point is inserted between adjacent sampling points of different channels, and at least one second interpolation point is inserted between adjacent sampling points of the same channel, to obtain new point cloud data.
  • At least one first interpolation point is inserted between adjacent sampling points of different channels, that is, the black interpolation point in Figure 2, inserted between adjacent sampling points of the same channel
  • At least one second interpolation point that is, the gray interpolation point in FIG. 2, obtains the new point cloud data as shown in FIG. 2.
  • first interpolation points are inserted between adjacent sampling points of different channels, for example, two first interpolation points are inserted between adjacent sampling points of different channels, and adjacent sampling points of the same channel are inserted. Insert 2 second interpolation points between the sampling points.
  • the number of interpolation points inserted in the initial point cloud data is not limited to a certain numerical range, but when the number of interpolation points inserted is increased, it will not have an effective impact on the recognition of the target scene. It shows that the number of interpolation points is sufficient. Generally, it is sufficient to insert 1-2 interpolation points between adjacent sampling points of the initial point cloud data. Of course, interpolation can be performed according to actual needs, which is not limited here.
  • the new point cloud data obtained after inserting the interpolation point includes the original sampling point and the interpolation point, and after inserting the first interpolation point, the distance between any two adjacent points between different channels is equal; After the second interpolation point, the distance between any two adjacent points in the same channel is equal.
  • the first interpolation point is inserted at the middle position of adjacent sampling points of different channels
  • the second interpolation point is inserted in the middle position of the adjacent sampling points of the same channel.
  • the multi-channel lidar is used as a reference to establish a camera coordinate system.
  • Each sampling point has its own coordinate in the coordinate system. After interpolation, each interpolation point will also have corresponding coordinates, and its coordinates will pass through The coordinates of two adjacent sampling points are obtained by weighted summation.
  • the coordinates of the first interpolation point are obtained by a weighted summation of the coordinates of two sampling points adjacent to the first interpolation point;
  • the coordinates of the second interpolation point are obtained by weighted summation of the coordinates of two sampling points adjacent to the second interpolation point.
  • the two sampling points are not the sampling points obtained from the detection of the same target scene. In order to accurately identify the target scene, no interpolation is performed at this time. Only when the distance difference between adjacent sampling points is not greater than the measurement In case of error, it can be ensured that the two sampling points originate from the same target scene, and then interpolation is performed.
  • the measurement error e is set to 10 cm.
  • the method further includes the step of outputting and displaying the new point cloud data.
  • the new point cloud data is obtained after obtaining the initial point cloud data in the lidar, and then interpolating the data before outputting the data from the lidar, instead of interpolating through the application layer software after the data is output Therefore, it reduces the amount of calculation required and the space required for storage, increases the number of sampling points, and is more conducive to the use of point clouds by upper-level applications.
  • the method further includes: recognizing the target scene according to the new point cloud data, wherein the specific recognition method can be a conventional method in the field, here No longer.
  • the serial numbers are represented by 1, 2, 3, 4, 5, and 6, as shown in Figure 2, the laser sampling order is 1, 2, 3, 4, 5,6.
  • the lidar in the present invention scans back and forth along the scan track, so the scan density is fixed, and the scan track of the lidar in the present invention changes along time, so the density will gradually accumulate.
  • sampling points of the same channel are arranged in a cone-shaped field of view along a non-circular track on the image plane of the multi-channel lidar.
  • the scanning module in the multi-channel lidar includes at least one rotating light refraction element, and the light refraction element has a non-parallel light exit surface and a light entrance surface.
  • a distance measuring device is also provided.
  • the distance measuring device includes lidar, which is only used as an example, and other suitable distance measuring devices can also be applied to this application.
  • the distance measuring device may be electronic equipment such as lidar and laser distance measuring equipment.
  • the distance measuring device is used to sense external environmental information, for example, distance information, orientation information, reflection intensity information, speed information, etc. of environmental targets.
  • the distance measuring device can detect the distance from the probe to the distance measuring device by measuring the time of light propagation between the distance measuring device and the probe, that is, the time-of-flight (TOF).
  • the ranging device can also detect the distance from the detected object to the ranging device through other technologies, such as a ranging method based on phase shift measurement, or a ranging method based on frequency shift measurement. There is no restriction.
  • the distance measuring device includes a transmitting module, a receiving module, and a temperature control system.
  • the transmitting module is used to emit light pulses;
  • the receiving module is used to receive at least part of the light pulses reflected by the object, and according to the received at least The partial light pulse determines the distance of the object relative to the distance measuring device.
  • the transmitting module includes a transmitting circuit 110; the receiving module includes a receiving circuit 120, a sampling circuit 130 and an arithmetic circuit 140.
  • the transmitting circuit 110 may emit a light pulse sequence (for example, a laser pulse sequence).
  • the receiving circuit 120 may receive the light pulse sequence reflected by the object to be detected, and perform photoelectric conversion on the light pulse sequence to obtain an electrical signal. After processing the electrical signal, it may be output to the sampling circuit 130.
  • the sampling circuit 130 may sample the electrical signal to obtain the sampling result.
  • the arithmetic circuit 140 may determine the distance between the distance measuring device 100 and the detected object based on the sampling result of the sampling circuit 130.
  • the distance measuring device 100 may further include a control circuit 150, which can control other circuits, for example, can control the working time of each circuit and/or set parameters for each circuit.
  • a control circuit 150 can control other circuits, for example, can control the working time of each circuit and/or set parameters for each circuit.
  • the distance measuring device shown in FIG. 3 includes a transmitting circuit, a receiving circuit, a sampling circuit and an arithmetic circuit for emitting a beam for detection
  • the embodiment of the present application is not limited to this, the transmitting circuit
  • the number of any one of the receiving circuit, the sampling circuit, and the arithmetic circuit can also be at least two, which are used to emit at least two light beams in the same direction or in different directions; wherein, the at least two light paths can be simultaneous Shooting can also be shooting at different times.
  • the light-emitting chips in the at least two transmitting circuits are packaged in the same module.
  • each emitting circuit includes a laser emitting chip, and the dies in the laser emitting chips in the at least two emitting circuits are packaged together and housed in the same packaging space.
  • the distance measuring device 100 may also include a scanning module for changing the propagation direction of at least one light pulse sequence (for example, a laser pulse sequence) emitted by the transmitting circuit, so as to control the field of view.
  • a scanning module for changing the propagation direction of at least one light pulse sequence (for example, a laser pulse sequence) emitted by the transmitting circuit, so as to control the field of view.
  • the scanning area of the scanning module in the field of view of the distance measuring device increases with the accumulation of time.
  • the module including the transmitting circuit 110, the receiving circuit 120, the sampling circuit 130, and the arithmetic circuit 140, or the module including the transmitting circuit 110, the receiving circuit 120, the sampling circuit 130, the arithmetic circuit 140, and the control circuit 150 may be referred to as the measuring circuit.
  • Distance module the distance measurement module can be independent of other modules, for example, scanning module.
  • a coaxial optical path can be used in the distance measuring device, that is, the light beam emitted from the distance measuring device and the reflected light beam share at least part of the optical path in the distance measuring device.
  • the distance measuring device may also adopt an off-axis optical path, that is, the light beam emitted by the distance measuring device and the reflected light beam are respectively transmitted along different optical paths in the distance measuring device.
  • Fig. 4 shows a schematic diagram of an embodiment in which the distance measuring device of the present invention adopts a coaxial optical path.
  • the ranging device 200 includes a ranging module 210, which includes a transmitter 203 (which may include the above-mentioned transmitting circuit), a collimating element 204, a detector 205 (which may include the above-mentioned receiving circuit, sampling circuit, and arithmetic circuit) and Light path changing element 206.
  • the ranging module 210 is used to emit a light beam, receive the return light, and convert the return light into an electrical signal.
  • the transmitter 203 can be used to emit a light pulse sequence.
  • the transmitter 203 may emit a sequence of laser pulses.
  • the laser beam emitted by the transmitter 203 is a narrow-bandwidth beam with a wavelength outside the visible light range.
  • the collimating element 204 is arranged on the exit light path of the emitter, and is used to collimate the light beam emitted from the emitter 203, and collimate the light beam emitted from the emitter 203 into parallel light and output to the scanning module.
  • the collimating element is also used to condense at least a part of the return light reflected by the probe.
  • the collimating element 204 may be a collimating lens or other elements capable of collimating light beams.
  • the light path changing element 206 is used to combine the transmitting light path and the receiving light path in the distance measuring device before the collimating element 204, so that the transmitting light path and the receiving light path can share the same collimating element, so that the light path More compact.
  • the transmitter 203 and the detector 205 may respectively use their own collimating elements, and the optical path changing element 206 is arranged on the optical path behind the collimating element.
  • the light path changing element can use a small area mirror to The transmitting light path and the receiving light path are combined.
  • the light path changing element may also use a reflector with a through hole, where the through hole is used to transmit the emitted light of the emitter 203 and the reflector is used to reflect the return light to the detector 205. In this way, the shielding of the back light by the bracket of the small mirror in the case of using the small mirror can be reduced.
  • the optical path changing element deviates from the optical axis of the collimating element 204.
  • the optical path changing element may also be located on the optical axis of the collimating element 204.
  • the distance measuring device 200 further includes a scanning module 202.
  • the scanning module 202 is placed on the exit light path of the distance measuring module 210.
  • the scanning module 202 is used to change the transmission direction of the collimated beam 219 emitted by the collimating element 204 and project it to the external environment, and project the return light to the collimating element 204 .
  • the returned light is collected on the detector 205 via the collimating element 204.
  • the scanning module 202 may include at least one optical element for changing the propagation path of the light beam, wherein the optical element may change the propagation path of the light beam by reflecting, refracting, or diffracting the light beam, for example,
  • the optical element includes at least one light refraction element having a non-parallel exit surface and an entrance surface.
  • the scanning module 202 includes a lens, a mirror, a prism, a galvanometer, a grating, a liquid crystal, an optical phased array (Optical Phased Array), or any combination of the foregoing optical elements.
  • at least part of the optical elements are moving.
  • a driving module is used to drive the at least part of the optical elements to move.
  • the moving optical elements can reflect, refract, or diffract the light beam to different directions at different times.
  • the multiple optical elements of the scanning module 202 may rotate or vibrate around a common axis 209, and each rotating or vibrating optical element is used to continuously change the propagation direction of the incident light beam.
  • the multiple optical elements of the scanning module 202 may rotate at different speeds or vibrate at different speeds.
  • at least part of the optical elements of the scanning module 202 may rotate at substantially the same rotation speed.
  • the multiple optical elements of the scanning module may also be rotated around different axes.
  • the multiple optical elements of the scanning module may also rotate in the same direction or in different directions; or vibrate in the same direction, or vibrate in different directions, which is not limited herein.
  • the scanning module 202 includes a first optical element 214 and a driver 216 connected to the first optical element 214.
  • the driver 216 is used to drive the first optical element 214 to rotate around the rotation axis 209 to change the first optical element 214.
  • the direction of the beam 219 is collimated.
  • the first optical element 214 projects the collimated light beam 219 to different directions.
  • the angle between the direction of the collimated beam 219 changed by the first optical element and the rotation axis 209 changes as the first optical element 214 rotates.
  • the first optical element 214 includes a pair of opposed non-parallel surfaces through which the collimated light beam 219 passes.
  • the first optical element 214 includes a prism whose thickness varies in at least one radial direction.
  • the first optical element 214 includes a wedge prism, and the collimated beam 219 is refracted.
  • the scanning module 202 further includes a second optical element 215, the second optical element 215 rotates around the rotation axis 209, and the rotation speed of the second optical element 215 is different from the rotation speed of the first optical element 214.
  • the second optical element 215 is used to change the direction of the light beam projected by the first optical element 214.
  • the second optical element 215 is connected to another driver 217, and the driver 217 drives the second optical element 215 to rotate.
  • the first optical element 214 and the second optical element 215 can be driven by the same or different drivers, so that the rotation speed and/or rotation of the first optical element 214 and the second optical element 215 are different, so as to project the collimated light beam 219 to the outside space.
  • the controller 218 controls the drivers 216 and 217 to drive the first optical element 214 and the second optical element 215, respectively.
  • the rotational speeds of the first optical element 214 and the second optical element 215 may be determined according to the area and pattern expected to be scanned in actual applications.
  • the drivers 216 and 217 may include motors or other drivers.
  • the second optical element 215 includes a pair of opposite non-parallel surfaces through which the light beam passes. In one embodiment, the second optical element 215 includes a prism whose thickness varies in at least one radial direction. In one embodiment, the second optical element 215 includes a wedge prism.
  • the scanning module 202 further includes a third optical element (not shown) and a driver for driving the third optical element to move.
  • the third optical element includes a pair of opposite non-parallel surfaces, and the light beam passes through the pair of surfaces.
  • the third optical element includes a prism whose thickness varies in at least one radial direction.
  • the third optical element includes a wedge prism. At least two of the first, second, and third optical elements rotate at different rotation speeds and/or steering directions.
  • the scanning module includes two or three light refraction elements arranged in sequence on the exit light path of the light pulse sequence.
  • at least two of the light refraction elements in the scanning module rotate during the scanning process to change the direction of the light pulse sequence.
  • the scanning module has different scanning paths at at least some different moments.
  • the rotation of each optical element in the scanning module 202 can project light to different directions, for example, the direction of the projected light 211 and the direction 213, so that the distance measuring device 200 is Space to scan.
  • the light 211 projected by the scanning module 202 hits the detection object 201, a part of the light is reflected by the detection object 201 to the distance measuring device 200 in a direction opposite to the projected light 211.
  • the return light 212 reflected by the probe 201 is incident on the collimating element 204 after passing through the scanning module 202.
  • the detector 205 and the transmitter 203 are placed on the same side of the collimating element 204, and the detector 205 is used to convert at least part of the return light passing through the collimating element 204 into an electrical signal.
  • an anti-reflection film is plated on each optical element.
  • the thickness of the antireflection coating is equal to or close to the wavelength of the light beam emitted by the emitter 203, which can increase the intensity of the transmitted light beam.
  • a filter layer is plated on the surface of an element located on the beam propagation path in the distance measuring device, or a filter is provided on the beam propagation path for transmitting at least the wavelength band of the beam emitted by the transmitter, Reflect other bands to reduce the noise caused by ambient light to the receiver.
  • the transmitter 203 may include a laser diode through which nanosecond laser pulses are emitted.
  • the laser pulse receiving time can be determined, for example, the laser pulse receiving time can be determined by detecting the rising edge time and/or the falling edge time of the electrical signal pulse.
  • the distance measuring device 200 can calculate the TOF using the pulse receiving time information and the pulse sending time information, so as to determine the distance between the probe 201 and the distance measuring device 200.
  • the distance and orientation detected by the distance measuring device 200 can be used for remote sensing, obstacle avoidance, surveying and mapping, modeling, navigation, etc.
  • the distance measuring device of the embodiment of the present invention can be applied to a mobile platform, and the distance measuring device can be installed on the platform body of the mobile platform.
  • a mobile platform with a distance measuring device can measure the external environment, for example, measuring the distance between the mobile platform and obstacles for obstacle avoidance and other purposes, and for two-dimensional or three-dimensional mapping of the external environment.
  • the mobile platform includes at least one of an unmanned aerial vehicle, a car, a remote control car, a robot, a boat, and a camera.
  • the ranging device is applied to an unmanned aerial vehicle
  • the platform body is the fuselage of the unmanned aerial vehicle.
  • the distance measuring device is applied to a car
  • the platform body is the body of the car.
  • the car can be a self-driving car or a semi-automatic driving car, and there is no restriction here.
  • the platform body is the body of the remote control car.
  • the platform body is a robot.
  • the distance measuring device is applied to a camera, the platform body is the camera itself.
  • the lidar of the distance measuring device of the present invention further includes:
  • the channel sampling module is used to obtain initial point cloud data.
  • the initial point cloud data is obtained by detecting a target scene through a multi-channel lidar.
  • the initial point cloud data includes sampling points of multiple channels, where each channel Contain multiple sampling points obtained by sampling successively;
  • the interpolation module is used to insert at least one first interpolation point between adjacent sampling points of different channels, and insert at least one second interpolation point between adjacent sampling points of the same channel to obtain new point cloud data.
  • the adjacent sampling points of different channels include spatially adjacent sampling points of different channels, and/or,
  • the adjacent sampling points of the same channel include sequential adjacent sampling points of the same channel.
  • the lidar also includes:
  • the processing module is used to output and display the new point cloud data.
  • the processing module is further configured to identify the target scene according to the new point cloud data.
  • the processing module is configured to calculate the coordinates of the first interpolation point and the coordinates of the second interpolation point, wherein the coordinates of the first interpolation point are determined by two sampling points adjacent to the first interpolation point. Weighted sum of coordinates is obtained;
  • the coordinates of the second interpolation point are obtained by weighted summation of the coordinates of two sampling points adjacent to the second interpolation point.
  • the interpolation module is further configured to determine whether the distance difference measured by adjacent sampling points is greater than the measurement error before inserting the first interpolation point or the second interpolation point;
  • the interpolation module is used for inserting multiple first interpolation points between adjacent sampling points of different channels; and inserting multiple second interpolation points between adjacent sampling points of the same channel.
  • the interpolation module is used for after inserting the first interpolation point, the distance between any two adjacent points between different channels is equal;
  • the interpolation module is used for after inserting the second interpolation point, the distance between any two adjacent points in the same channel is equal.
  • the interpolation module is configured to insert the first interpolation point and the middle position of adjacent sampling points of different channels
  • the second interpolation point is inserted in the middle position of the adjacent sampling points of the same channel.
  • the distance measuring device is used to execute the multi-channel lidar point cloud interpolation method in the above embodiment, so the instructions executed in each module and the implementation method steps can refer to the multi-channel lidar point cloud interpolation method The related description in the method will not be repeated here.
  • two-dimensional interpolation is performed for multi-line lidar, not only inserting at least one first interpolation point between adjacent sampling points of different channels, but also inserting between adjacent sampling points of the same channel
  • At least one second interpolation point is used to interpolate between adjacent sampling points of the multi-line lidar, which reduces the amount of calculation and storage required, increases the number of sampling points, and is more conducive to upper-layer applications using point clouds.
  • the disclosed device and method may be implemented in other ways.
  • the device embodiments described above are merely illustrative, for example, the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or It can be integrated into another device, or some features can be ignored or not implemented.
  • the various component embodiments of the present invention may be implemented by hardware, or by software modules running on one or more processors, or by their combination.
  • a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all of the functions of some modules according to the embodiments of the present invention.
  • DSP digital signal processor
  • the present invention can also be implemented as a device program (for example, a computer program and a computer program product) for executing part or all of the methods described herein.
  • Such a program for realizing the present invention may be stored on a computer-readable medium, or may have the form of one or more signals. Such signals can be downloaded from Internet websites, or provided on carrier signals, or provided in any other form.

Abstract

一种多通道激光雷达点云插值的方法和测距装置（100，200），其中方法包括：获取初始点云数据，初始点云数据是通过多通道激光雷达对目标场景进行探测得到的，初始点云数据包括多个通道的采样点，其中每个通道包含先后采样得到的多个采样点；在不同通道的相邻采样点之间插入至少一个第一插值点，在同一通道的相邻采样点之间插入至少一个第二插值点，得到新点云数据。方法是针对多线激光雷达进行二维插值，由于使用多线激光雷达相邻采样点之间进行插值，减少了所需要的计算量和存储所需要的空间，增加了采样点数，更加有利于上层应用使用点云。

Description

一种多通道激光雷达点云插值的方法和测距装置
说明书
技术领域
本发明总地涉及测距装置技术领域，更具体地涉及一种多通道激光雷达点云插值的方法和测距装置。
背景技术
目前的激光雷达采用单通道或者多通道激光雷达的方法，但是由于原理限制，激光雷达之间的间隔比较大，因此采样点云之间的间隔也比较大，最终采样点云稀疏，不方便识别物体。
现有技术主要存在以下缺点：
1、激光雷达发射接收模块之间夹角比较大，造成点云稀疏，不方便应用软件算法便识别。
2、有的插值方法在应用层进行，需要累积整个视场里面的点云，进行聚类、识别、然后插值，该方法要求计算性能比较高。
3、现有的方法大多是一维插值，插值后信息量比较少。
因此急需解决目前上述方法中存在的各种问题。
发明内容
为了解决上述问题中的至少一个而提出了本发明。具体地，本发明一方面提供一种多通道激光雷达点云插值的方法，所述方法包括：
获取初始点云数据，所述初始点云数据是通过多通道激光雷达对目标场景进行探测得到的，所述初始点云数据包括多个通道的采样点，其中每个通道包含先后采样得到的多个采样点；
在不同通道的相邻采样点之间插入至少一个第一插值点，在同一通道的相邻采样点之间插入至少一个第二插值点，得到新点云数据。
本发明的另一方面提供了一种测距装置，所述测距装置包括激光雷达，所述激光雷达包括：
多通道采样模块，用于获取初始点云数据，所述初始点云数据是通过多 通道采样模块对目标场景进行探测得到的，所述初始点云数据包括多个通道的采样点，其中每个通道包含先后采样得到的多个采样点；
插值模块，用于在不同通道的相邻采样点之间插入至少一个第一插值点，在同一通道的相邻采样点之间插入至少一个第二插值点，得到新点云数据。
通过上述方法，对多通道激光雷达点云进行插值，可以在激光雷达设备中进行快速运算，不需要大量的存储和计算资源。在本发明的所述方法中是针对多线激光雷达进行二维插值，不仅在不同通道的相邻采样点之间插入至少一个第一插值点，还在同一通道的相邻采样点之间插入至少一个第二插值点，由于使用多线激光雷达相邻采样点之间进行插值，减少了所需要的计算量和存储所需要的空间，增加了采样点数，更加有利于上层应用使用点云。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1示出了本发明一实施例中的进行插值后得到的新点云的结构示意图；
图2示出了附图1中进行插值后得到的新点云的结构示意图的局部放大图；
图3是本发明实施例提供的一种测距装置的示意性框架图；
图4是本发明实施例提供的测距装置采用同轴光路的一种实施例的示意图。
具体实施方式
为了使得本发明的目的、技术方案和优点更为明显，下面将参照附图详细描述根据本发明的示例实施例。显然，所描述的实施例仅仅是本发明的一部分实施例，而不是本发明的全部实施例，应理解，本发明不受这里描述的示例实施例的限制。基于本发明中描述的本发明实施例，本领域技术人员在没有付出创造性劳动的情况下所得到的所有其它实施例都应落入本发明的保护范围之内。
在下文的描述中，给出了大量具体的细节以便提供对本发明更为彻底的 理解。然而，对于本领域技术人员而言显而易见的是，本发明可以无需一个或多个这些细节而得以实施。在其他的例子中，为了避免与本发明发生混淆，对于本领域公知的一些技术特征未进行描述。
应当理解的是，本发明能够以不同形式实施，而不应当解释为局限于这里提出的实施例。相反地，提供这些实施例将使公开彻底和完全，并且将本发明的范围完全地传递给本领域技术人员。
在此使用的术语的目的仅在于描述具体实施例并且不作为本发明的限制。在此使用时，单数形式的“一”、“一个”和“所述/该”也意图包括复数形式，除非上下文清楚指出另外的方式。还应明白术语“组成”和/或“包括”，当在该说明书中使用时，确定所述特征、整数、步骤、操作、元件和/或部件的存在，但不排除一个或更多其它的特征、整数、步骤、操作、元件、部件和/或组的存在或添加。在此使用时，术语“和/或”包括相关所列项目的任何及所有组合。
为了彻底理解本发明，将在下列的描述中提出详细的结构，以便阐释本发明提出的技术方案。本发明的可选实施例详细描述如下，然而除了这些详细描述外，本发明还可以具有其他实施方式。
下面结合附图，对本申请的测距装置进行详细说明。在不冲突的情况下，下述的实施例及实施方式中的特征可以相互组合。
激光雷达的测距装置在扫描时，激光收发器之间的间隔比较大，因此采样点云之间的间隔也比较大，最终采样点云稀疏，不方便识别物体。
鉴于上述问题的存在，本发明提供一种多通道激光雷达点云插值的方法，所述方法包括：
获取初始点云数据，所述初始点云数据是通过多通道激光雷达对目标场景进行探测得到的，所述初始点云数据包括多个通道的采样点，其中每个通道包含先后采样得到的多个采样点；
在不同通道的相邻采样点之间插入至少一个第一插值点，在同一通道的相邻采样点之间插入至少一个第二插值点，得到新点云数据。
下面结合附图，对本申请的所述的方法和装置以及系统进行详细说明。在不冲突的情况下，下述的实施例及实施方式中的特征可以相互组合。
在一个实施例中，本发明的方法包括：获取初始点云数据，所述初始点云数据是通过多通道激光雷达对目标场景进行探测得到的，例如在激光雷达中当一束激光照射到物体表面时，所反射的激光会携带方位、距离等信息。 若将激光束按照某种轨迹进行扫描，便会边扫描边记录到反射的激光点信息，得到大量的激光点，形成初始点云数据。
其中，将发射多个出射路径的激光测距装置(或模块)称为多线或多通道激光测距装置(或模块)。将多线或多通道激光测距装置(或模块)进行的测量称为多线或多通道测量。将多个出射路径的激光脉冲序列对应的电路称为多通道或多线。在本发明中所述激光雷达为多通道激光雷达，即具有多个出射路径。因此所述初始点云数据包括多个通道的采样点，其中每个通道包含先后采样得到的多个采样点。
下面结合附图1和图2对所述采样点进行详细的说明，需要说明的是，图1示出了本发明一实施例中的进行插值后得到的新点云的结构示意图；图2示出了附图1中进行插值后得到的新点云的结构示意图的局部放大图，其中初始点云数据为稀疏程度不同，形状例如可以为类似圆形、椭圆形或其他不规则的形状的轮廓，如图1所示，其中附图2为该初始点云数据的任一部分经过放大一定倍数后得到的图形，其大致上呈若干行和若干列规则排列的阵列。
其中，所述不同通道的相邻采样点包括不同通道的空间相邻采样点，即附图2中沿纵向排列的多列采样点为不同通道的空间相邻采样点，在一个具体地示例中，如图2所示，所述激光雷达为6通道激光雷达，因此6个通道的空间相邻采样点表现为6列采样点。所述同一通道的相邻采样点包括同一通道的时序相邻采样点，即在附图2中每一列中包含的多个先后进行采样的时序相邻采样点。
由于上述采样点云稀疏，不方便识别物体，为了增加点云的密度在本申请所述方法中对所述初始点云数据进行插值，本申请的所述插值方法为二维插值，即不仅在不同通道的相邻采样点之间进行插值，还对同一通道的相邻采样点之间进行插值，通过所述方法减少了所需要的计算量和存储所需要的空间，增加了采样点数，更加有利于上层应用使用点云。
具体地，在不同通道的相邻采样点之间插入至少一个第一插值点，在同一通道的相邻采样点之间插入至少一个第二插值点，得到新点云数据。
在一示例中，如图2所示，在不同通道的相邻采样点之间插入至少一个第一插值点，即附图2中黑色的插值点，在同一通道的相邻采样点之间插入 至少一个第二插值点，即附图2中灰色的插值点，得到如图2所示的新点云数据。
在另一示例中，在不同通道的相邻采样点之间插入多个第一插值点，例如在不同通道的相邻采样点之间插入2个第一插值点，以及在同一通道的相邻采样点之间插入2个第二插值点。
需要说明的是，在初始点云数据中插入的插值点的数目并不局限于某一数值范围，但是当插入的插值点数目再增加其对于目标场景的识别也不会产生有效的影响时，说明该插值点的数目已经足够。通常，在所述初始点云数据的相邻采样点之间插入1-2个插值点即可，当然可以根据实际需要进行插值，在此不做限定。
其中，在插入插值点之后得到的新点云数据中包括原始采样点和插值点，并且插入所述第一插值点之后，不同通道之间任意相邻的两点之间的距离相等；插入所述第二插值点之后，在同一通道中任意相邻的两点之间的距离相等。
具体地，在一示例中，在不同通道的相邻采样点的中间位置插入所述第一插值点；
在同一通道的相邻采样点的中间位置插入所述第二插值点。
在上述方法中以多通道激光雷达为参照建立相机坐标系，每个采样点在该坐标系中具有各自的坐标，在进行插值之后每个插值点也会具有相应的坐标，并且其坐标通过与其相邻的两个采样点的坐标进行加权求和得到。
具体地，所述第一插值点的坐标由与所述第一插值点相邻的两个采样点的坐标加权求和得到；
第二插值点的坐标由与所述第二插值点相邻的两个采样点的坐标加权求和得到。
此外，为了确保插值的准确性，还需要在查之前进行误差检测，判断相邻采样点测到的距离差值是否大于测量误差，例如当相邻采样点测到的距离差值大于测量误差时，则有可能该两采样点并非是对同一目标场景探测得到的采样点，为了精准地对目标场景识别，此时不再进行插值，只有当相邻采样点测到的距离差值不大于测量误差时，可以确保两采样点来源于同一目标 场景，则进行插值。例如所述测量误差e设定为10cm。
在对所述初始点云数据进行插值之后，所述方法还进一步包括将所述新点云数据输出并显示的步骤。
在本申请中所述新点云数据是在激光雷达中获取初始点云数据之后，在从所述激光雷达输出数据之前进行插值后得到的，而不是在数据输出之后通过应用层软件进行插值得到的，因此减少了所需要的计算量和存储所需要的空间，增加了采样点数，更加有利于上层应用使用点云。
进一步，在将所述新点云数据输出之后，所述方法还进一步包括：根据所述新点云数据对所述目标场景进行识别，其中具体的识别方法可以选用本领域的常规方法，在此不再赘述。
在本发明的一示例中，以6通道激光雷达为例，序号用1,2,3,4,5,6表示，如图2所示，激光采样顺序依次为1,2,3,4,5,6。实线点表示激光雷达实际发光的采样点，坐标为(x ij，y ij，z ij)(i＝1，2...n；j＝1，2...6)，表示序号为j的激光第i次采样，黑色虚线点表示插值的点，位于相邻两个激光采样点之间的插值点，坐标为(x’ ij，y’ ij，z’ ij)(i＝1，2...n；j＝1，2...5)，表示为序号j与j+1两个激光采样点之间的插值，其坐标为：
其中，
Figure PCTCN2019089638-appb-000001
其中，灰色虚线点表示插值的点，位于同一个激光先后两次采样点之间的插值点，坐标为(x” ij，y” ij，z” ij)(i＝1，2...n；j＝1，2...6)，表示第j个激光第i次采样与第i+1次采样的插值，其坐标为：
Figure PCTCN2019089638-appb-000002
需要说明的是本发明中所述激光雷达引沿着扫描轨迹来回扫描，所以扫描密度固定，本发明中的激光雷达扫描轨迹沿着时间改变，所以密度会逐渐累加。
其中，所述同一通道采样点在一锥形视场内，在所述多通道激光雷达的像平面上沿着非圆形轨迹排布。
所述多通道激光雷达中的扫描模块包含至少一个旋转的光折射元件，所述光折射元件具有不平行的出光面和入光面。
在本发明的另外一个实施例中，还提供了一种测距装置，首先，参考图3和图4对本发明实施例中的一种测距装置的结构做更详细的示例性地描述，测距装置包括激光雷达，该测距装置仅作为示例，对于其他适合的测距装置也可以应用于本申请。
本发明各个实施例提供的方案可以应用于测距装置，该测距装置可以是激光雷达、激光测距设备等电子设备。在一种实施方式中，测距装置用于感测外部环境信息，例如，环境目标的距离信息、方位信息、反射强度信息、速度信息等。一种实现方式中，测距装置可以通过测量测距装置和探测物之间光传播的时间，即光飞行时间(Time-of-Flight，TOF)，来探测探测物到测距装置的距离。或者，测距装置也可以通过其他技术来探测探测物到测距装置的距离，例如基于相位移动(phase shift)测量的测距方法，或者基于频率移动(frequency shift)测量的测距方法，在此不做限制。
为了便于理解，以下将结合图3所示的测距装置100对测距的工作流程进行举例描述。
所述测距装置包括发射模块、接收模块和温度控制系统，所述发射模块用于出射光脉冲；所述接收模块用于接收经物体反射回的至少部分光脉冲，以及根据所述接收的至少部分光脉冲确定所述物体相对所述测距装置的距离。
具体地，如图3所示，所述发射模块包括发射电路110；所述接收模块包括接收电路120、采样电路130和运算电路140。
发射电路110可以出射光脉冲序列(例如激光脉冲序列)。接收电路120可以接收经过被探测物反射的光脉冲序列，并对该光脉冲序列进行光电转换，以得到电信号，再对电信号进行处理之后可以输出给采样电路130。采样电路130可以对电信号进行采样，以获取采样结果。运算电路140可以基于采样电路130的采样结果，以确定测距装置100与被探测物之间的距离。
可选地，该测距装置100还可以包括控制电路150，该控制电路150可以实现对其他电路的控制，例如，可以控制各个电路的工作时间和/或对各个电路进行参数设置等。
应理解，虽然图3示出的测距装置中包括一个发射电路、一个接收电路、一个采样电路和一个运算电路，用于出射一路光束进行探测，但是本申请实施例并不限于此，发射电路、接收电路、采样电路、运算电路中的任一种电路的数量也可以是至少两个，用于沿相同方向或分别沿不同方向出射至少两路光束；其中，该至少两束光路可以是同时出射，也可以是分别在不同时刻出射。一个示例中，该至少两个发射电路中的发光芯片封装在同一个模块中。例如，每个发射电路包括一个激光发射芯片，该至少两个发射电路中的激光发射芯片中的die封装到一起，容置在同一个封装空间中。
一些实现方式中，除了图3所示的电路，测距装置100还可以包括扫描模块，用于将发射电路出射的至少一路光脉冲序列(例如激光脉冲序列)改变传播方向出射，以对视场进行扫描。示例性地，所述扫描模块在测距装置的视场内的扫描区域随着时间的累积而增加。
其中，可以将包括发射电路110、接收电路120、采样电路130和运算电路140的模块，或者，包括发射电路110、接收电路120、采样电路130、运算电路140和控制电路150的模块称为测距模块，该测距模块可以独立于其他模块，例如，扫描模块。
测距装置中可以采用同轴光路，也即测距装置出射的光束和经反射回来的光束在测距装置内共用至少部分光路。例如，发射电路出射的至少一路激光脉冲序列经扫描模块改变传播方向出射后，经探测物反射回来的激光脉冲序列经过扫描模块后入射至接收电路。或者，测距装置也可以采用异轴光路，也即测距装置出射的光束和经反射回来的光束在测距装置内分别沿不同的光路传输。图4示出了本发明的测距装置采用同轴光路的一种实施例的示意图。
测距装置200包括测距模块210，测距模块210包括发射器203(可以包括上述的发射电路)、准直元件204、探测器205(可以包括上述的接收电路、采样电路和运算电路)和光路改变元件206。测距模块210用于发射光束，且接收回光，将回光转换为电信号。其中，发射器203可以用于发射光脉冲序列。在一个实施例中，发射器203可以发射激光脉冲序列。可选的，发射器203发射出的激光束为波长在可见光范围之外的窄带宽光束。准直元件204 设置于发射器的出射光路上，用于准直从发射器203发出的光束，将发射器203发出的光束准直为平行光出射至扫描模块。准直元件还用于会聚经探测物反射的回光的至少一部分。该准直元件204可以是准直透镜或者是其他能够准直光束的元件。
在图4所示实施例中，通过光路改变元件206来将测距装置内的发射光路和接收光路在准直元件204之前合并，使得发射光路和接收光路可以共用同一个准直元件，使得光路更加紧凑。在其他的一些实现方式中，也可以是发射器203和探测器205分别使用各自的准直元件，将光路改变元件206设置在准直元件之后的光路上。
在图4所示实施例中，由于发射器203出射的光束的光束孔径较小，测距装置所接收到的回光的光束孔径较大，所以光路改变元件可以采用小面积的反射镜来将发射光路和接收光路合并。在其他的一些实现方式中，光路改变元件也可以采用带通孔的反射镜，其中该通孔用于透射发射器203的出射光，反射镜用于将回光反射至探测器205。这样可以减小采用小反射镜的情况中小反射镜的支架会对回光的遮挡。
在图4所示实施例中，光路改变元件偏离了准直元件204的光轴。在其他的一些实现方式中，光路改变元件也可以位于准直元件204的光轴上。
测距装置200还包括扫描模块202。扫描模块202放置于测距模块210的出射光路上，扫描模块202用于改变经准直元件204出射的准直光束219的传输方向并投射至外界环境，并将回光投射至准直元件204。回光经准直元件204汇聚到探测器205上。
在一个实施例中，扫描模块202可以包括至少一个光学元件，用于改变光束的传播路径，其中，该光学元件可以通过对光束进行反射、折射、衍射等等方式来改变光束传播路径，例如所述光学元件包括至少一个具有非平行的出射面和入射面的光折射元件。例如，扫描模块202包括透镜、反射镜、棱镜、振镜、光栅、液晶、光学相控阵(Optical Phased Array)或上述光学元件的任意组合。一个示例中，至少部分光学元件是运动的，例如通过驱动模块来驱动该至少部分光学元件进行运动，该运动的光学元件可以在不同时刻将光束反射、折射或衍射至不同的方向。在一些实施例中，扫描模块202的多个光学元件可以绕共同的轴209旋转或振动，每个旋转或振动的光学元件用于不断改变入射光束的传播方向。在一个实施例中，扫描模块202的多个光学元件可以以不同的转速旋转，或以不同的速度振动。在另一个实施例中， 扫描模块202的至少部分光学元件可以以基本相同的转速旋转。在一些实施例中，扫描模块的多个光学元件也可以是绕不同的轴旋转。在一些实施例中，扫描模块的多个光学元件也可以是以相同的方向旋转，或以不同的方向旋转；或者沿相同的方向振动，或者沿不同的方向振动，在此不作限制。
在一个实施例中，扫描模块202包括第一光学元件214和与第一光学元件214连接的驱动器216，驱动器216用于驱动第一光学元件214绕转动轴209转动，使第一光学元件214改变准直光束219的方向。第一光学元件214将准直光束219投射至不同的方向。在一个实施例中，准直光束219经第一光学元件改变后的方向与转动轴209的夹角随着第一光学元件214的转动而变化。在一个实施例中，第一光学元件214包括相对的非平行的一对表面，准直光束219穿过该对表面。在一个实施例中，第一光学元件214包括厚度沿至少一个径向变化的棱镜。在一个实施例中，第一光学元件214包括楔角棱镜，对准直光束219进行折射。
在一个实施例中，扫描模块202还包括第二光学元件215，第二光学元件215绕转动轴209转动，第二光学元件215的转动速度与第一光学元件214的转动速度不同。第二光学元件215用于改变第一光学元件214投射的光束的方向。在一个实施例中，第二光学元件215与另一驱动器217连接，驱动器217驱动第二光学元件215转动。第一光学元件214和第二光学元件215可以由相同或不同的驱动器驱动，使第一光学元件214和第二光学元件215的转速和/或转向不同，从而将准直光束219投射至外界空间不同的方向，可以扫描较大的空间范围。在一个实施例中，控制器218控制驱动器216和217，分别驱动第一光学元件214和第二光学元件215。第一光学元件214和第二光学元件215的转速可以根据实际应用中预期扫描的区域和样式确定。驱动器216和217可以包括电机或其他驱动器。
在一个实施例中，第二光学元件215包括相对的非平行的一对表面，光束穿过该对表面。在一个实施例中，第二光学元件215包括厚度沿至少一个径向变化的棱镜。在一个实施例中，第二光学元件215包括楔角棱镜。
一个实施例中，扫描模块202还包括第三光学元件(图未示)和用于驱动第三光学元件运动的驱动器。可选地，该第三光学元件包括相对的非平行的一对表面，光束穿过该对表面。在一个实施例中，第三光学元件包括厚度沿至少一个径向变化的棱镜。在一个实施例中，第三光学元件包括楔角棱镜。第一、第二和第三光学元件中的至少两个光学元件以不同的转速和/或转向转 动。
在一个实施例中，所述扫描模块包括在所述光脉冲序列的出射光路上依次排布的2个或3个所述光折射元件。可选地，所述扫描模块中的至少2个所述光折射元件在扫描过程中旋转，以改变所述光脉冲序列的方向。
所述扫描模块在至少部分不同时刻的扫描路径不同，扫描模块202中的各光学元件旋转可以将光投射至不同的方向，例如投射的光211的方向和方向213，如此对测距装置200周围的空间进行扫描。当扫描模块202投射出的光211打到探测物201时，一部分光被探测物201沿与投射的光211相反的方向反射至测距装置200。探测物201反射的回光212经过扫描模块202后入射至准直元件204。
探测器205与发射器203放置于准直元件204的同一侧，探测器205用于将穿过准直元件204的至少部分回光转换为电信号。
一个实施例中，各光学元件上镀有增透膜。可选的，增透膜的厚度与发射器203发射出的光束的波长相等或接近，能够增加透射光束的强度。
一个实施例中，测距装置中位于光束传播路径上的一个元件表面上镀有滤光层，或者在光束传播路径上设置有滤光器，用于至少透射发射器所出射的光束所在波段，反射其他波段，以减少环境光给接收器带来的噪音。
在一些实施例中，发射器203可以包括激光二极管，通过激光二极管发射纳秒级别的激光脉冲。进一步地，可以确定激光脉冲接收时间，例如，通过探测电信号脉冲的上升沿时间和/或下降沿时间确定激光脉冲接收时间。如此，测距装置200可以利用脉冲接收时间信息和脉冲发出时间信息计算TOF，从而确定探测物201到测距装置200的距离。测距装置200探测到的距离和方位可以用于遥感、避障、测绘、建模、导航等。
在一种实施方式中，本发明实施方式的测距装置可应用于移动平台，测距装置可安装在移动平台的平台本体。具有测距装置的移动平台可对外部环境进行测量，例如，测量移动平台与障碍物的距离用于避障等用途，和对外部环境进行二维或三维的测绘。在某些实施方式中，移动平台包括无人飞行器、汽车、遥控车、机器人、船、相机中的至少一种。当测距装置应用于无人飞行器时，平台本体为无人飞行器的机身。当测距装置应用于汽车时，平台本体为汽车的车身。该汽车可以是自动驾驶汽车或者半自动驾驶汽车，在此不做限制。当测距装置应用于遥控车时，平台本体为遥控车的车身。当测距装置应用于机器人时，平台本体为机器人。当测距装置应用于相机时，平 台本体为相机本身。
本发明所述测距装置的激光雷达除了具有上述各电路和元器件之外，还进一步包括：
通道采样模块，用于获取初始点云数据，所述初始点云数据是通过多通道激光雷达对目标场景进行探测得到的，所述初始点云数据包括多个通道的采样点，其中每个通道包含先后采样得到的多个采样点；
插值模块，用于在不同通道的相邻采样点之间插入至少一个第一插值点，在同一通道的相邻采样点之间插入至少一个第二插值点，得到新点云数据。
其中，所述不同通道的相邻采样点包括不同通道的空间相邻采样点，和/或，
所述同一通道的相邻采样点包括同一通道的时序相邻采样点。
其中，述激光雷达还包括：
处理模块，用于将所述新点云数据输出并显示。
可选地，处理模块还用于根据所述新点云数据对所述目标场景进行识别。
所述处理模块用于计算所述第一插值点的坐标和所述第二插值点的坐标，其中，所述第一插值点的坐标由与所述第一插值点相邻的两个采样点的坐标加权求和得到；
第二插值点的坐标由与所述第二插值点相邻的两个采样点的坐标加权求和得到。
可选地，所述插值模块还用于在插入所述第一插值点或所述第二插值点之前，判断相邻采样点测到的距离差值是否大于测量误差；
当相邻采样点测到的距离差值大于测量误差时，则不进行插值，
当相邻采样点测到的距离差值不大于测量误差时，则进行插值。
所述插值模块用于在不同通道的相邻采样点之间插入多个第一插值点；以及在同一通道的相邻采样点之间插入多个第二插值点。
所述插值模块用于在插入所述第一插值点之后，不同通道之间任意相邻的两点之间的距离相等；
所述插值模块用于在插入所述第二插值点之后，在同一通道中任意相邻的两点之间的距离相等。
所述插值模块，用于在不同通道的相邻采样点的中间位置插入所述第一插值点以及
在同一通道的相邻采样点的中间位置插入所述第二插值点。
在该实施例中，所述测距装置用于执行上述实施例中的多通道激光雷达点云插值的方法，因此各个模块中执行的指令以及实现方法步骤可以参照多通道激光雷达点云插值的方法中的相关描述，在此不再赘述。
通过上述方法和测距装置对多通道激光雷达点云进行插值，可以在激光雷达设备中进行快速运算，不需要大量的存储和计算资源。在本发明的所述方法中是针对多线激光雷达进行二维插值，不仅在不同通道的相邻采样点之间插入至少一个第一插值点，还在同一通道的相邻采样点之间插入至少一个第二插值点，由于使用多线激光雷达相邻采样点之间进行插值，减少了所需要的计算量和存储所需要的空间，增加了采样点数，更加有利于上层应用使用点云。
尽管这里已经参考附图描述了示例实施例，应理解上述示例实施例仅仅是示例性的，并且不意图将本发明的范围限制于此。本领域普通技术人员可以在其中进行各种改变和修改，而不偏离本发明的范围和精神。所有这些改变和修改意在被包括在所附权利要求所要求的本发明的范围之内。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本发明的范围。
在本申请所提供的几个实施例中，应该理解到，所揭露的设备和方法，可以通过其它的方式实现。例如，以上所描述的设备实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个设备，或一些特征可以忽略，或不执行。
在此处所提供的说明书中，说明了大量具体细节。然而，能够理解，本发明的实施例可以在没有这些具体细节的情况下实践。在一些实例中，并未详细示出公知的方法、结构和技术，以便不模糊对本说明书的理解。
类似地，应当理解，为了精简本发明并帮助理解各个发明方面中的一个 或多个，在对本发明的示例性实施例的描述中，本发明的各个特征有时被一起分组到单个实施例、图、或者对其的描述中。然而，并不应将该本发明的方法解释成反映如下意图：即所要求保护的本发明要求比在每个权利要求中所明确记载的特征更多的特征。更确切地说，如相应的权利要求书所反映的那样，其发明点在于可以用少于某个公开的单个实施例的所有特征的特征来解决相应的技术问题。因此，遵循具体实施方式的权利要求书由此明确地并入该具体实施方式，其中每个权利要求本身都作为本发明的单独实施例。
本领域的技术人员可以理解，除了特征之间相互排斥之外，可以采用任何组合对本说明书(包括伴随的权利要求、摘要和附图)中公开的所有特征以及如此公开的任何方法或者设备的所有过程或单元进行组合。除非另外明确陈述，本说明书(包括伴随的权利要求、摘要和附图)中公开的每个特征可以由提供相同、等同或相似目的替代特征来代替。
此外，本领域的技术人员能够理解，尽管在此所述的一些实施例包括其它实施例中所包括的某些特征而不是其它特征，但是不同实施例的特征的组合意味着处于本发明的范围之内并且形成不同的实施例。例如，在权利要求书中，所要求保护的实施例的任意之一都可以以任意的组合方式来使用。
本发明的各个部件实施例可以以硬件实现，或者以在一个或者多个处理器上运行的软件模块实现，或者以它们的组合实现。本领域的技术人员应当理解，可以在实践中使用微处理器或者数字信号处理器(DSP)来实现根据本发明实施例的一些模块的一些或者全部功能。本发明还可以实现为用于执行这里所描述的方法的一部分或者全部的装置程序(例如，计算机程序和计算机程序产品)。这样的实现本发明的程序可以存储在计算机可读介质上，或者可以具有一个或者多个信号的形式。这样的信号可以从因特网网站上下载得到，或者在载体信号上提供，或者以任何其他形式提供。
应该注意的是上述实施例对本发明进行说明而不是对本发明进行限制，并且本领域技术人员在不脱离所附权利要求的范围的情况下可设计出替换实施例。在权利要求中，不应将位于括号之间的任何参考符号构造成对权利要求的限制。本发明可以借助于包括有若干不同元件的硬件以及借助于适当编程的计算机来实现。在列举了若干装置的单元权利要求中，这些装置中的若干个可以是通过同一个硬件项来具体体现。单词第一、第二、以及第三等的使用不表示任何顺序。可将这些单词解释为名称。

Claims (24)

  1. 一种多通道激光雷达点云插值的方法，其特征在于，所述方法包括：
    获取初始点云数据，所述初始点云数据是通过多通道激光雷达对目标场景进行探测得到的，所述初始点云数据包括多个通道的采样点，其中每个通道包含先后采样得到的多个采样点；
    在不同通道的相邻采样点之间插入至少一个第一插值点，在同一通道的相邻采样点之间插入至少一个第二插值点，得到新点云数据。
  2. 根据权利要求1所述的方法，其特征在于，所述不同通道的相邻采样点包括不同通道的空间相邻采样点，和/或，
    所述同一通道的相邻采样点包括同一通道的时序相邻采样点。
  3. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    将所述新点云数据输出并显示。
  4. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    根据所述新点云数据对所述目标场景进行识别。
  5. 根据权利要求1所述的方法，其特征在于，在插入所述第一插值点或所述第二插值点之前，所述方法还包括：
    判断相邻采样点测到的距离差值是否大于测量误差；
    当相邻采样点测到的距离差值大于测量误差时，则不进行插值，
    当相邻采样点测到的距离差值不大于测量误差时，则进行插值。
  6. 根据权利要求1所述的方法，其特征在于，在不同通道的相邻采样点之间插入多个第一插值点；
    在同一通道的相邻采样点之间插入多个第二插值点。
  7. 根据权利要求6所述的方法，其特征在于，插入所述第一插值点之后，不同通道之间任意相邻的两点之间的距离相等；
    插入所述第二插值点之后，在同一通道中任意相邻的两点之间的距离相等。
  8. 根据权利要求1所述的方法，其特征在于，在不同通道的相邻采样点的中间位置插入所述第一插值点；
    在同一通道的相邻采样点的中间位置插入所述第二插值点。
  9. 根据权利要求1所述的方法，其特征在于，所述第一插值点的坐标由与所述第一插值点相邻的两个采样点的坐标加权求和得到；
    第二插值点的坐标由与所述第二插值点相邻的两个采样点的坐标加权求和得到。
  10. 根据权利要求1所述的方法，其特征在于，所述多通道激光雷达对所述目标场景的扫描密度逐渐累加。
  11. 根据权利要求1所述的方法，其特征在于，所述同一通道采样点在一锥形视场内，在所述多通道激光雷达的像平面上沿着非圆形轨迹排布。
  12. 根据权利要求1所述的方法，其特征在于，所述多通道激光雷达中的扫描模块包含至少一个旋转的光折射元件，所述光折射元件具有不平行的出光面和入光面。
  13. 一种测距装置，其特征在于，所述测距装置包括激光雷达，所述激光雷达包括：
    多通道采样模块，用于获取初始点云数据，所述初始点云数据是通过多通道采样模块对目标场景进行探测得到的，所述初始点云数据包括多个通道的采样点，其中每个通道包含先后采样得到的多个采样点；
    插值模块，用于在不同通道的相邻采样点之间插入至少一个第一插值点，在同一通道的相邻采样点之间插入至少一个第二插值点，得到新点云数据。
  14. 根据权利要求13所述的测距装置，其特征在于，所述不同通道的相邻采样点包括不同通道的空间相邻采样点，和/或，
    所述同一通道的相邻采样点包括同一通道的时序相邻采样点。
  15. 根据权利要求13所述的测距装置，其特征在于，所述激光雷达还包括：
    处理模块，用于将所述新点云数据输出并显示。
  16. 根据权利要求15所述的测距装置，其特征在于，所述处理模块还用于根据所述新点云数据对所述目标场景进行识别。
  17. 根据权利要求13所述的测距装置，其特征在于，所述插值模块还用于在插入所述第一插值点或所述第二插值点之前，判断相邻采样点测到的距离差值是否大于测量误差；
    当相邻采样点测到的距离差值大于测量误差时，则不进行插值，
    当相邻采样点测到的距离差值不大于测量误差时，则进行插值。
  18. 根据权利要求13所述的测距装置，其特征在于，所述插值模块用于在不同通道的相邻采样点之间插入多个第一插值点；以及在同一通道的相邻采样点之间插入多个第二插值点。
  19. 根据权利要求13所述的测距装置，其特征在于，所述插值模块用于在插入所述第一插值点之后，使不同通道之间任意相邻的两点之间的距离相等；
    所述插值模块用于在插入所述第二插值点之后，使同一通道中任意相邻的两点之间的距离相等。
  20. 根据权利要求13所述的测距装置，其特征在于，所述插值模块，用于在不同通道的相邻采样点的中间位置插入所述第一插值点以及在同一通道的相邻采样点的中间位置插入所述第二插值点。
  21. 根据权利要求15所述的测距装置，其特征在于，所述处理模块用于计算所述第一插值点的坐标和所述第二插值点的坐标，其中，所述第一插值点的坐标由与所述第一插值点相邻的两个采样点的坐标加权求和得到；
    第二插值点的坐标由与所述第二插值点相邻的两个采样点的坐标加权求和得到。
  22. 根据权利要求13所述的测距装置，其特征在于，所述激光雷达对所述目标场景的扫描密度逐渐累加。
  23. 根据权利要求13所述的测距装置，其特征在于，所述同一通道采样点在一锥形视场内，在所述激光雷达的像平面上沿着非圆形轨迹排布。
  24. 根据权利要求13所述的测距装置，其特征在于，所述激光雷达中的扫描模块包含至少一个旋转的光折射元件，所述光折射元件具有不平行的出光面和入光面。
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