WO2021051726A1

WO2021051726A1 - Method and apparatus for processing point cloud data, storage medium, and lidar system

Info

Publication number: WO2021051726A1
Application number: PCT/CN2020/070459
Authority: WO
Inventors: 张腾
Original assignee: 深圳市速腾聚创科技有限公司
Priority date: 2020-01-06
Filing date: 2020-01-06
Publication date: 2021-03-25
Also published as: CN113366341A

Abstract

Disclosed in the embodiments of the present application are a method and an apparatus for processing point cloud data, a storage medium, and a LIDAR system, relating to the field of detection. In the embodiments of the present application, the top, the left side, the right side, the front, and the back of a vehicle are respectively provided with a LIDAR. The LIDAR on the top is used for remote-distance field of view detection, the LIDARs on the left and right sides are used for near-distance left and right field of view detection, and the LIDARs on the front and back are used for near-distance front and back field of view detection. Point cloud data collected by the five LIDARs above is fused to obtain panoramic point cloud data, preventing blind spots from appearing in the front, back, left, or right of the vehicle during a detection process, and improving the accuracy of detection and the functional safety of an autonomous driving system.

Description

Point cloud data processing method, device, storage medium and lidar system

Technical field

This application relates to the field of detection, and in particular to a point cloud data processing method, device, storage medium, and lidar system.

Background technique

Lidar can create a 3D image of the surroundings. Lidar uses a micro-electro-mechanical system (MEMS) micro galvanometer as a beam scanning structure, which is a method of lidar. Its working principle is to first launch a detection laser beam to the target, and then compare the received signal reflected from the target with the transmitted signal. After proper processing, relevant information of the target can be obtained, such as target distance, azimuth, height, Parameters such as speed, attitude, and even shape.

In unmanned vehicles or transportation vehicles that require driving assistance, 32-line lidar is usually used. Since the detection field of view of a single lidar is limited, it cannot detect both short and medium-to-long distances at the same time. A certain blind zone is formed on the left and right sides of the car; in addition, there are not enough harnesses in the center lidar, and there will still be missed detections.

Summary of the invention

The point cloud data processing method, device, storage medium, and lidar system provided in the embodiments of the present application can solve the problem of blind spots in vehicle detection of surrounding objects in related technologies. The technical solution is as follows:

In the first aspect, an embodiment of the present application provides a method for processing point cloud data, and the method includes:

Collect the first point cloud data through the first lidar;

Collect the second point cloud data through the second lidar;

Collect the third point cloud data through the third lidar;

Collect the fourth point cloud data through the fourth lidar;

The fifth point cloud data is collected by the fifth lidar; wherein, the first lidar is arranged on the top of the vehicle, the second lidar is arranged on the left side of the vehicle, and the third lidar is arranged on On the right side of the vehicle, the fourth lidar is arranged in front of the vehicle, and the fifth lidar is arranged at the rear of the vehicle;

The first point cloud data, the second point cloud data, the third point cloud data, the fourth point cloud data, and the fifth point cloud data are fused to obtain panoramic point cloud data.

In the second aspect, an embodiment of the present application provides a point cloud data processing device, and the processing device includes:

The collection unit is used to collect the first point cloud data through the first lidar;

Collect the second point cloud data through the second lidar;

Collect the third point cloud data through the third lidar;

Collect the fourth point cloud data through the fourth lidar;

The fifth point cloud data is collected by the fifth lidar; wherein, the first lidar is installed on the top of the vehicle, the second lidar is installed on the left side of the vehicle, and the third lidar is installed on the On the right side of the vehicle, the fourth lidar is arranged in front of the vehicle, and the fifth lidar is arranged at the rear of the vehicle;

A fusion unit for fusing the first point cloud data, the second point cloud data, the third point cloud data, the fourth point cloud data, and the fifth point cloud data to obtain a panoramic point cloud data.

In a third aspect, an embodiment of the present application provides a computer storage medium, the computer storage medium stores a plurality of instructions, and the instructions are suitable for being loaded by a processor and executing the above method steps.

In a fourth aspect, an embodiment of the present application provides a point cloud data processing device, which may include: a processor and a memory; wherein the memory stores a computer program, and the computer program is suitable for being loaded and executed by the processor The above method steps.

In a fifth aspect, an embodiment of the present application provides a lidar system, including the aforementioned processing device, a first lidar, a second lidar, a third lidar, a fourth lidar, and a fifth lidar.

The beneficial effects brought by the technical solutions provided by some embodiments of the present application include at least:

A lidar is installed on the top, left, right, front, and rear of the vehicle. The lidar on the top is used for long-distance field of view detection. The lidar on the left and right sides is used for short-distance left and right field of view detection. Lidar is used for short-distance front and rear field of view detection. The point cloud data collected by the above five lidars are merged to obtain panoramic point cloud data, which avoids blind areas in the front, rear, left, and right of the vehicle during the detection process, and improves the accuracy of detection And the functional safety of the autonomous driving system.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

FIG. 1 is a schematic diagram of the architecture of a lidar system provided by an embodiment of the present application;

2 is a schematic flowchart of a point cloud data processing method provided by an embodiment of the present application;

FIG. 3A is a schematic diagram of the distribution position of the lidar provided by an embodiment of the present application on a vehicle;

3B is a schematic diagram of the field of view of the lidar provided by an embodiment of the present application;

3C is a schematic diagram of the field of view of the lidar provided by an embodiment of the present application;

FIG. 4 is a schematic diagram of point cloud data splicing provided by an embodiment of the present application;

FIG. 5 is a schematic structural diagram of a point cloud data processing device provided by the present application;

Fig. 6 is another schematic structural diagram of a point cloud data processing device provided by the present application.

detailed description

In order to make the purpose, technical solutions, and advantages of the present application clearer, the following will further describe the embodiments of the present application in detail with reference to the accompanying drawings.

Fig. 1 shows a schematic diagram of the architecture of the lidar system. The lidar system includes: a processing device 0, a lidar 1, a lidar 2, a lidar 3, a lidar 4, and a lidar 5. Lidar 1, Lidar 2, Lidar 3, Lidar 4, and Lidar 5 are each connected to processing device 0. Lidars 1 to 5 can be connected to processing device 0 in a wired manner, for example: Lidars 1 to 5 pass through Ethernet The network interface, universal serial bus interface or CAN interface is connected to the processing device 0. Lidar includes laser transmitters, laser receivers and optoelectronic devices. Lidar 1-5 emits outgoing laser light, which irradiates the object to form reflected laser light. Lidar generates point cloud data according to the position of the reflected laser light and laser intensity. The generated point cloud data is output to the processing device 0 for processing. Lidar 1 is installed on the top of the vehicle, Lidar 2 is installed on the left side of the vehicle, Lidar 3 is installed on the right side of the vehicle, Lidar 4 is installed on the front of the vehicle, Lidar 5 is installed on the rear of the vehicle, and the processing device 0 The point cloud data collected by lidar 1 to lidar 5 are fused to obtain panoramic point cloud data.

In the following, the correction method of the multi-channel lidar provided by the embodiment of the present application will be described in detail with reference to FIG. 2 to FIG. 4. FIG.

Please refer to FIG. 2, which provides a schematic flowchart of a method for calibrating a multi-channel lidar according to an embodiment of this application. As shown in Figure 2, the method of the embodiment of the present application may include the following steps:

S201. Collect first point cloud data by using the first lidar.

Among them, the first lidar emits outgoing laser light, and the outgoing laser light irradiates the object to form a reflected laser. The first lidar obtains the spatial position information and laser intensity information of the illuminated point on the object according to the reflected laser, and the spatial position information indicates the illuminated point on the object The laser intensity information indicates the laser intensity of the reflected laser that is reflected after the outgoing laser is irradiated on the irradiation point; the first lidar generates the first point cloud data according to the spatial position information and laser intensity information of multiple irradiation points on the object.

The point cloud data is a collection of multiple irradiation points, and each irradiation point has spatial position information and laser intensity information.

S202: Collect second point cloud data by using the second lidar.

Wherein, the second point cloud data includes the spatial position information and laser intensity information of the multiple irradiation points. For the collection process of the second point cloud data, refer to the description of S201, which will not be repeated here.

S203. Collect third point cloud data by using a third lidar.

Among them, the third point cloud data includes the spatial position information and laser intensity information of multiple irradiation points. For the collection process of the third point cloud data, refer to the description of S201, which will not be repeated here.

S204. Collect fourth point cloud data through the fourth lidar.

Among them, the fourth point cloud data includes the spatial position information and laser intensity information of the multiple irradiation points. For the collection process of the fourth point cloud data, refer to the description of S201, which will not be repeated here.

S305. Collect fifth point cloud data through the fifth lidar.

Wherein, the fifth point cloud data includes the spatial position information and laser intensity information of multiple irradiation points. For the collection process of the fifth point cloud data, please refer to the description of S201, which will not be repeated here. The first lidar, the second lidar, the third lidar, the fourth lidar, and the fifth lidar are distributed and arranged at different positions of the vehicle.

For example: as shown in FIG. 3A, the first lidar 20 is installed on the top of the vehicle; the second lidar 21 is installed on the left side of the vehicle, the third lidar 22 is installed on the right side of the vehicle, and the fourth lidar 23 is installed on the right side of the vehicle. In the front of the vehicle, the fifth lidar 24 is installed at the rear of the vehicle.

Further, the vertical field of view of the first lidar ranges from -25° to +15°, and the horizontal field of view of the first lidar is 0° to 360°; that is, the vertical field of view of the first lidar is 40°. °, the horizontal field of view angle is 360 degrees. The vertical field of view of the second lidar, the third lidar, the fourth lidar and the fifth lidar ranges from -90°～+90°, and the horizontal field angle ranges from -90°～+90°, which is the above The vertical field of view of the four lidars is 180 degrees, and the horizontal field of view is 180 degrees. The first lidar is used for long-range detection, and the second lidar, third lidar, fourth lidar, and fifth lidar are used for short-range detection.

For example: referring to the schematic diagrams of the field of view shown in Figures 3B and 3C, the vertical field of view of the laser parallel to the horizontal direction is 0 degrees, and the vertical field of view of the first lidar 20 ranges from -25° to +25 °, -25° means an upward shift of 25 degrees based on the horizontal direction, +15 degrees means a downward shift of 15 degrees based on the horizontal direction; the horizontal field of view of the first lidar 20 ranges from 0° to 360° , Which means that the first lidar 20 can rotate one circle in the horizontal direction. The horizontal field of view of the second lidar 21, the third lidar 22, the fourth lidar 23, and the fifth lidar 24 is -90°～+90°, and the vertical view angle is -90°～+90° That is, the scanning range of the first lidar 21, the second lidar 22, the third lidar 23, and the fourth lidar 24 in the horizontal direction and the vertical direction is a hemisphere.

Further, the horizontal central axis of the second lidar, the third lidar, the fourth lidar and the fifth lidar are located on the same plane, and the horizontal central axis of the first lidar is not located on this plane.

Further, the second lidar and the third lidar are located in the first line segment, the fourth lidar and the fifth lidar are located in the second line segment, the first line segment is perpendicular to the second line segment and passes through the center point of the second line segment, The projection of the first lidar on the plane where the horizontal central axis of the second lidar, the third lidar, the fourth lidar and the fifth lidar are located is on the second line segment.

S306. Fusion of the first point cloud data, the second point cloud data, the third point cloud data, the fourth point cloud data, and the fifth point cloud data to obtain panoramic point cloud data.

Among them, the first point cloud data is collected by the first lidar on the top of the vehicle, the second point cloud data is collected by the second lidar on the left side of the vehicle, and the third point cloud data is the third lidar on the right side of the vehicle. The fourth point cloud data is collected by the fourth lidar in front of the vehicle, and the fifth point cloud data is collected by the fifth lidar behind the vehicle. Among them, the first lidar, the second lidar, and the third The lidar, the fourth lidar and the fifth lidar keep time synchronization, and the processing device controls the first lidar, the second lidar, the third lidar, the fourth lidar and the fifth lidar to use the same sampling period to collect points Cloud data, that is, within a sampling period, the first lidar scans from -25 degrees to +15 degrees in the vertical direction, and scans 0 degrees to 360 degrees in the horizontal direction. At the same time, the second lidar and the third lidar The lidar, the fourth lidar, and the fifth lidar scan from -90 degrees to +90 degrees in the horizontal and vertical directions. The processing device fuses the point cloud data collected by each lidar to obtain panoramic point cloud data, which is generated by each lidar collecting objects around the vehicle.

Further, said fusing the first point cloud data, the second point cloud data, the third point cloud data, the fourth point cloud data and the fifth point cloud data to obtain a panoramic point Cloud data, including:

Acquiring the spatial positions of the first lidar, the second lidar, the third lidar, the fourth lidar, and the fifth lidar;

Convert the second point cloud data, the third point cloud data, the fourth point cloud data, and the fifth point cloud data into the coordinate system of the first point cloud data according to the spatial position ；

In the coordinate system, determine the distance between each of the second point cloud data, the third point cloud data, the fourth point cloud data, and the fifth point cloud data and the first point cloud data Coincident point cloud data;

According to the coincident point cloud data, the second point cloud data, the third point cloud data, the fourth point cloud data, and the fifth point cloud data are respectively spliced with the first point cloud data Then generate panoramic point cloud data.

Among them, each lidar will collect point cloud data according to its own coordinate system. The position of each lidar on the vehicle is fixed. The processing device obtains the spatial position of each lidar to determine the relative relationship between each lidar. The positional relationship, for example, take the first lidar as the origin coordinates, and obtain the coordinates of the second lidar, the third lidar, the fourth lidar, and the fifth lidar, which are equivalent to the coordinates of the first lidar. According to the spatial position of each lidar, the point cloud coordinate system of the first lidar is used as the reference coordinate system, and the point cloud data collected by the second lidar, the third lidar, the fourth lidar and the fifth lidar are converted To the reference coordinate system.

According to the position of the first lidar, the second lidar, the third lidar, the fourth lidar, and the fifth lidar on the vehicle, the vertical field of view range and the horizontal field of view range, it can be known that the first point cloud The data and the second point cloud data have overlapping point cloud data, the first point cloud data and the third point cloud data have overlapping point cloud data, and the first point cloud data and the fourth point cloud data have overlapping point cloud data , There is overlap point cloud data between the first point cloud data and the fifth point cloud data. The processing device merges the two overlapping point cloud data to obtain the point cloud data after the overlapping point cloud data is spliced. For example: referring to Figure 4, there is overlapping point cloud data 42 between the first point cloud data 40 and the second point cloud data 41, and the first point cloud data 40 and the second point cloud data 41 are combined to obtain a spliced set. Point cloud data.

The processing device respectively splices the first point cloud data and the second point cloud data, the first point cloud data and the third point cloud data are spliced, the first point cloud data and the fourth point cloud data are spliced, and the first point cloud data is spliced. The cloud data and the fifth point cloud data are spliced to obtain panoramic point cloud data.

To implement the embodiments of this application, a lidar is provided on the top, left, right, front, and rear of the vehicle. The lidar on the top is used for long-distance field of view detection, and the lidar on the left and right sides is used for short-distance left and right vision. Field detection, the front lidar is used for short-distance front and rear field of view detection. The point cloud data collected by the above 5 lidars are merged to obtain panoramic point cloud data, so as to avoid blind spots in the front, rear, left, and right of the vehicle during the detection process. Improve the accuracy of detection and the functional safety of the automatic driving system.

The following are device embodiments of this application, which can be used to execute the method embodiments of this application. For details not disclosed in the device embodiment of this application, please refer to the method embodiment of this application.

Please refer to FIG. 5, which shows a schematic structural diagram of a point cloud data processing device provided by an exemplary embodiment of the present application, which is referred to as the processing device 5 hereinafter. The processing device 5 can be implemented as all or part of the laser radar through software, hardware or a combination of the two. The processing device 5 includes: an acquisition unit 501 and a fusion unit 502.

The collecting unit 501 is configured to collect the first point cloud data through the first lidar;

Collect the second point cloud data through the second lidar;

Collect the third point cloud data through the third lidar;

Collect the fourth point cloud data through the fourth lidar;

The fusion unit 502 is configured to merge the first point cloud data, the second point cloud data, the third point cloud data, the fourth point cloud data, and the fifth point cloud data to obtain a complete Scenic spot cloud data.

In a possible implementation manner, the vertical field of view of the first lidar ranges from -25° to +15°, and the horizontal field of view ranges from 0° to 360°; The vertical field angle range of the third lidar, the fourth lidar, and the fifth lidar is -90°～+90°, and the horizontal field angle range is -90°～+90°.

In a possible implementation manner, the second lidar, the third lidar, the fourth lidar, and the fifth lidar are located on the same plane, and the first lidar is not located on the same plane. on flat surface.

In a possible implementation manner, the second lidar and the third lidar are located on a first line segment, the fourth lidar and the fifth lidar are located on a second line segment, and the first lidar The line segment is perpendicular to the second line segment and passes through the center point of the second line segment.

In a possible implementation manner, the acquisition time of the first lidar, the second lidar, the third lidar, the fourth lidar, and the fifth lidar are kept synchronized.

In a possible implementation manner, the first point cloud data, the second point cloud data, the third point cloud data, the fourth point cloud data, and the fifth point cloud data are combined Data is fused to obtain panoramic point cloud data, including:

In a possible implementation manner, the processing device 5 further includes:

A positioning unit for drawing a map according to the panoramic point cloud data;

Determine the location of the vehicle on the map.

It should be noted that when processing point cloud data is executed in the processing 5 provided in the above embodiment, only the division of the above functional modules is used as an example for illustration. In practical applications, the above functions can be assigned to different functions according to needs. Module completion, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the point cloud data processing device provided in the foregoing embodiment and the point cloud data processing method embodiment belong to the same concept, and the implementation process is detailed in the method embodiment, which will not be repeated here.

The serial numbers of the foregoing embodiments of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments.

The embodiment of the present application also provides a computer storage medium. The computer storage medium may store a plurality of instructions, and the instructions are suitable for being loaded by a processor and executing the method steps of the embodiments shown in FIGS. 2 to 4 above. For the specific execution process, please refer to the specific description of the embodiment shown in FIG. 2 to FIG. 4, which will not be repeated here.

The present application also provides a computer program product that stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement the point cloud data processing method described in each of the above embodiments.

Please refer to FIG. 6, which provides a schematic structural diagram of a point cloud data processing device according to an embodiment of the present application. The processing device 6 is below. As shown in FIG. 6, the processing device 6 may include: at least one processor 601, a memory 602, and at least one communication bus 603.

Among them, the communication bus 603 is used to implement connection and communication between these components.

The processor 601 may include one or more processing cores. The processor 601 uses various interfaces and lines to connect various parts of the entire correction device 6, and executes by running or executing instructions, programs, code sets, or instruction sets stored in the memory 602, and calling data stored in the memory 602. Various functions and processing data of the correction device 6. Optionally, the processor 601 may use at least one of digital signal processing (Digital Signal Processing, DSP), Field-Programmable Gate Array (Field-Programmable Gate Array, FPGA), and Programmable Logic Array (Programmable Logic Array, PLA). A kind of hardware form to realize. The processor 601 may integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), a modem, and the like. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is used to render and draw the content that needs to be displayed on the display; the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 601, but may be implemented by a chip alone.

The memory 602 may include random access memory (RAM) or read-only memory (Read-Only Memory). Optionally, the memory 602 includes a non-transitory computer-readable storage medium. The memory 602 may be used to store instructions, programs, codes, code sets or instruction sets. The memory 602 may include a storage program area and a storage data area, where the storage program area may store instructions for implementing the operating system and instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), Instructions used to implement the foregoing method embodiments, etc.; the storage data area can store data and the like involved in the foregoing method embodiments. Optionally, the memory 602 may also be at least one storage device located far away from the foregoing processor 601.

In the correction device 6 shown in FIG. 6, the processor 601 may be used to call the touch operation response application program stored in the memory 602 and specifically execute the steps shown in the method embodiment of FIG. 2.

Among them, the embodiment of FIG. 6 and the method embodiment of FIG. 2 are based on the same concept, and the technical effects brought about by them are also the same. For the specific implementation process of FIG. 6, reference may be made to the description of FIG. 2 and will not be repeated here.

A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing relevant hardware through a computer program. The program can be stored in a computer readable storage medium, and the program can be stored in a computer readable storage medium. During execution, it may include the procedures of the above-mentioned method embodiments. Wherein, the storage medium can be a magnetic disk, an optical disc, a read-only storage memory or a random storage memory, etc.

The above-disclosed are only preferred embodiments of this application, and of course the scope of rights of this application cannot be limited by this. Therefore, equivalent changes made in accordance with the claims of this application still fall within the scope of this application.

Claims

A method for processing point cloud data, characterized in that the method includes:

Collect the first point cloud data through the first lidar;

Collect the second point cloud data through the second lidar;

Collect the third point cloud data through the third lidar;

Collect the fourth point cloud data through the fourth lidar;

The fifth point cloud data is collected by the fifth lidar; wherein, the first lidar is arranged on the top of the vehicle, the second lidar is arranged on the left side of the vehicle, and the third lidar is arranged on the top of the vehicle. On the right side of the vehicle, the fourth lidar is arranged in front of the vehicle, and the fifth lidar is arranged at the rear of the vehicle;

The first point cloud data, the second point cloud data, the third point cloud data, the fourth point cloud data, and the fifth point cloud data are fused to obtain panoramic point cloud data.
The processing method according to claim 1, wherein the vertical field of view of the first lidar ranges from -25° to +15°, and the horizontal field of view ranges from 0° to 360°; The vertical field of view angle range of the second lidar, the third lidar, the fourth lidar, and the fifth lidar is -90°～+90°, and the horizontal field angle range is -90°～+ 90°.
The processing method according to claim 1, wherein the horizontal central axes of the second lidar, the third lidar, the fourth lidar, and the fifth lidar are located on the same plane, and The horizontal central axis of the first lidar is not located on this plane.
The processing method according to claim 3, wherein the second lidar and the third lidar are located in a first line segment, and the fourth lidar and the fifth lidar are located in a second line segment , The first line segment is perpendicular to the second line segment and passes through the center point of the second line segment.
The processing method according to claim 1, wherein the acquisition of the first lidar, the second lidar, the third lidar, the fourth lidar, and the fifth lidar The time stays in sync.
The processing method according to claim 1, wherein the first point cloud data, the second point cloud data, the third point cloud data, the fourth point cloud data, and the The fifth point cloud data is fused to obtain panoramic point cloud data, including:

Acquiring the spatial positions of the first lidar, the second lidar, the third lidar, the fourth lidar, and the fifth lidar;

Convert the second point cloud data, the third point cloud data, the fourth point cloud data, and the fifth point cloud data into the coordinate system of the first point cloud data according to the spatial position ；

In the coordinate system, determine the distance between each of the second point cloud data, the third point cloud data, the fourth point cloud data, and the fifth point cloud data and the first point cloud data Coincident point cloud data;

According to the coincident point cloud data, the second point cloud data, the third point cloud data, the fourth point cloud data, and the fifth point cloud data are respectively spliced with the first point cloud data Then generate panoramic point cloud data.
The processing method according to claim 1, further comprising:

Drawing a map according to the panoramic point cloud data;

Determine the location of the vehicle on the map.
A processing device for point cloud data, characterized in that the processing device comprises:

The collection unit is used to collect the first point cloud data through the first lidar;

Collect the second point cloud data through the second lidar;

Collect the third point cloud data through the third lidar;

Collect the fourth point cloud data through the fourth lidar;

The fifth point cloud data is collected by the fifth lidar; wherein, the first lidar is arranged on the top of the vehicle, the second lidar is arranged on the left side of the vehicle, and the third lidar is arranged on the top of the vehicle. On the right side of the vehicle, the fourth lidar is arranged in front of the vehicle, and the fifth lidar is arranged at the rear of the vehicle;

A fusion unit for fusing the first point cloud data, the second point cloud data, the third point cloud data, the fourth point cloud data, and the fifth point cloud data to obtain a panoramic point Cloud data.
A computer storage medium, wherein the computer storage medium stores a plurality of instructions, and the instructions are suitable for being loaded by a processor and executing the method steps according to any one of claims 1-7.
A lidar system, characterized by comprising: a processing device, a first lidar, a second lidar, a third lidar, a fourth lidar, and a fifth lidar;

The processing device includes a processor and a memory; the memory stores a computer program, and the computer program is adapted to be loaded by the processor and execute the method steps according to any one of claims 1-7.