WO2022088723A1 - 一种数据处理方法及装置 - Google Patents
一种数据处理方法及装置 Download PDFInfo
- Publication number
- WO2022088723A1 WO2022088723A1 PCT/CN2021/102869 CN2021102869W WO2022088723A1 WO 2022088723 A1 WO2022088723 A1 WO 2022088723A1 CN 2021102869 W CN2021102869 W CN 2021102869W WO 2022088723 A1 WO2022088723 A1 WO 2022088723A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- data
- point cloud
- collection
- cloud data
- radar device
- Prior art date
Links
- 238000003672 processing method Methods 0.000 title claims abstract description 20
- 238000000034 method Methods 0.000 claims abstract description 60
- 230000008859 change Effects 0.000 claims description 33
- 230000006870 function Effects 0.000 claims description 17
- 230000008569 process Effects 0.000 claims description 16
- 238000012545 processing Methods 0.000 claims description 15
- 238000012216 screening Methods 0.000 claims description 13
- 238000004590 computer program Methods 0.000 claims description 11
- 238000005457 optimization Methods 0.000 claims description 10
- 238000013480 data collection Methods 0.000 claims description 9
- 238000001914 filtration Methods 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 7
- 230000000717 retained effect Effects 0.000 claims description 4
- 238000005070 sampling Methods 0.000 claims description 3
- 230000011218 segmentation Effects 0.000 claims 1
- 238000004364 calculation method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 238000004422 calculation algorithm Methods 0.000 description 5
- 238000004891 communication Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000004927 fusion Effects 0.000 description 3
- 238000013507 mapping Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000001413 cellular effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
Definitions
- the present disclosure relates to the technical field of information processing, and in particular, to a data processing method and apparatus.
- autonomous driving technology mainly collects radar point cloud data through lidar, and then determines the position information of lidar based on positioning devices (such as Global Positioning System (GPS), integrated inertial navigation system, etc.), and then analyzes the point cloud data.
- positioning devices such as Global Positioning System (GPS), integrated inertial navigation system, etc.
- Information fusion with position information is performed to determine the positional relationship between the automatic driving device and obstacles, so as to achieve obstacle avoidance.
- the position information of the laser radar is determined based on the positioning device
- the position information of the positioning device is generally determined first, and then the position information of the positioning device is converted into the position information of the laser radar based on the external parameter data. It is used to represent the relative positional relationship between the positioning device and the lidar.
- the embodiments of the present disclosure provide at least one data processing method and apparatus.
- an embodiment of the present disclosure provides a data processing method, including: acquiring positioning data collected by a positioning device and point cloud data collected by a radar device, where the positioning device and the radar device are deployed on the same vehicle; The positioning data and the point cloud data determine the position data of the radar device when the point cloud data is collected; the ground parameter information representing the ground is determined based on the point cloud data, and the location data is determined based on the position data.
- the initial pose data of the radar device is adjusted; based on the ground parameter information and the initial pose data, the external parameter data representing the relative positional relationship between the positioning device and the radar device is adjusted.
- the ground parameter information representing the ground and the initial pose data of the radar device can be determined according to the positioning data collected by the positioning device and the radar data collected by the radar device, and then based on the ground parameter information and the initial pose data of the radar device , adjust the external parameter data. Since the ground parameter information and the initial pose data of the radar device can be obtained through data collection or calculation, in the process of adjusting the external parameter data, there is no need to manually use other equipment to adjust the position of the positioning device and the radar device. Calibration improves the adjustment efficiency of external parameter data and saves labor costs.
- the point cloud data includes coordinate information of a plurality of radar scanning points; the determining, based on the point cloud data, ground parameter information representing the ground includes: performing a plane mapping based on the point cloud data. Fitting to obtain fitting plane information; based on the coordinate information of the radar scanning points in the point cloud data, determine the distance between each radar scanning point and the plane indicated by the fitting plane information; The distance between the radar scanning point and the plane indicated by the fitting plane information, screen the point cloud data, and return to the step of performing plane fitting based on the point cloud data based on the screened point cloud data, until reaching Iterative conditions are preset, and the ground parameter information is determined based on the finally screened point cloud data.
- the point cloud data is screened multiple times by means of iterative fitting, and then the ground parameter information is determined based on the finally screened point cloud data, which improves the accuracy of the ground parameter information.
- the following data screening processes before performing plane fitting based on the point cloud data, perform at least one of the following data screening processes: perform downsampling processing on the point cloud data, so that radar scans in the point cloud data are performed.
- the distribution density of the points conforms to the preset condition; the radar scanning points whose corresponding coordinate information is located within the target coordinate range are screened out, wherein the target coordinate range is determined according to the preset installation height of the radar device.
- data screening of point cloud data can improve the calculation accuracy of ground parameter information on the one hand, and reduce the amount of calculation in the plane fitting process and improve the calculation efficiency on the other hand.
- the position data includes height data; the method further includes: based on the height data in the position data and the corresponding relationship between the position data and the point cloud data, the point cloud The data is divided into multiple collection intervals.
- dividing the point cloud data into multiple collection intervals based on the height data in the position data and the correspondence between the position data and the point cloud data includes: The height data is filtered to determine at least one extreme point in the height data retained after filtering; the point cloud data is divided into multiple collection intervals by taking the collection time point corresponding to each extreme point as the dividing point of the collection interval.
- the determining the ground parameter information representing the ground based on the point cloud data, and determining the initial pose data of the radar device based on the position data include: for each collection interval, based on point cloud data in the collection interval, determine the ground parameter information corresponding to the collection interval, and determine the radar device corresponding to the collection interval based on the position data of the radar device when collecting the point cloud data in the collection interval the initial pose data; the adjusting the external parameter data representing the relative positional relationship between the positioning device and the radar device based on the ground parameter information and the initial pose data, including: based on the The ground parameter information and the initial pose data corresponding to each collection interval are adjusted to the external parameter data representing the relative positional relationship between the positioning device and the radar device.
- the consideration of ground height information is added, by dividing the point cloud data into a plurality of collection intervals, and determining the ground parameter information corresponding to the different collection intervals, and then based on the ground parameter information corresponding to the different collection intervals, and For the initial pose data in the collection interval, when adjusting the external parameter data, the adjusted external parameter is more accurate.
- the external parameters representing the relative positional relationship between the positioning device and the radar device are compared.
- the data adjustment includes: determining the optimized pose data corresponding to each collection interval based on the ground parameter information and the initial pose data corresponding to each collection interval; The pose data and the optimized pose data are used to adjust the external parameter data.
- determining the optimized pose data corresponding to each collection interval includes: for any collection interval, Based on the ground parameter information and the initial pose data corresponding to the collection interval, determine the pose data that minimizes the value of the objective function, and use the pose data that minimizes the value of the objective function as the optimization corresponding to the collection interval
- the objective function is the sum of the absolute value of the difference between the ground parameter information before and after the pose data optimization and the absolute value of the difference between the pose data before and after the pose data optimization.
- the adjustment of the external parameter data based on the initial pose data corresponding to each collection interval and the optimized pose data includes: The initial pose data and the optimized pose data are used to determine the first average pose change in the collection interval; and the multiple collections are determined based on the first average pose change in each collection interval. The second average pose change amount corresponding to the interval; based on the second average pose change amount, the external parameter data is adjusted.
- the optimized pose data corresponding to the initial pose data determined according to the ground parameter information in different collection intervals is more accurate, and then the first average pose variation and When the external parameter data is adjusted based on the second average pose change, the adjusted external parameter data is more accurate.
- the adjusting the external parameter data based on the second average pose change includes: comparing the second average pose change with the extrinsic data before adjustment. The product is determined as the adjusted extrinsic data.
- the positioning data includes position data collected at multiple first collection time points
- the point cloud data includes point cloud data collected at multiple second collection time points
- the determining, based on the positioning data and the point cloud data, the position data of the radar device when collecting the point cloud data includes: for each of the second collection time points, at the plurality of first time points.
- the position data of the radar device at each second collection time point can be determined, thereby avoiding the interference caused by the difference in the data collection frequency of the radar device and the positioning device.
- an embodiment of the present disclosure further provides a data processing device, comprising: an acquisition module configured to acquire positioning data collected by a positioning device and point cloud data collected by a radar device; wherein the positioning device and the radar device is deployed on the same vehicle; a first determination module is used to determine, based on the positioning data and the point cloud data, the position data of the radar device when the positioning device collects the positioning data; a second determination module, for determining ground parameter information representing the ground based on the point cloud data, and determining initial pose data of the radar device based on the position data; an adjustment module for determining based on the ground parameter information and the initial position Attitude data is used to adjust the external parameter data representing the relative positional relationship between the positioning device and the radar device.
- embodiments of the present disclosure further provide a computer device, including: a processor, a memory, and a bus, where the memory stores machine-readable instructions executable by the processor, and when the computer device runs, the processing A bus communicates between the processor and the memory, and when the machine-readable instructions are executed by the processor, the first aspect or the steps in any possible implementation manner of the first aspect are performed.
- an embodiment of the present disclosure further provides a computer-readable storage medium on which a computer program is stored, and when the computer program is run by a processor, the steps in the first aspect or any of the possible implementation manners are executed.
- FIG. 1 shows a schematic flowchart of a data processing method provided by an embodiment of the present disclosure
- FIG. 2 shows a schematic diagram of a comparison between a first collection time point and a second collection time point provided by an embodiment of the present disclosure
- FIG. 3 is a schematic diagram illustrating a comparison between another first acquisition time point and a second acquisition time point provided by an embodiment of the present disclosure
- FIG. 4 shows a schematic flowchart of a method for determining ground parameter information representing the ground based on point cloud data provided by an embodiment of the present disclosure
- FIG. 5 shows a schematic diagram of a method for determining an extreme point of altitude data provided by an embodiment of the present disclosure; a schematic diagram of a method for determining an extreme point of data;
- FIG. 6 shows a schematic flowchart of a method for adjusting external parameter data provided by an embodiment of the present disclosure
- FIG. 7 shows a schematic diagram of the architecture of a data processing apparatus provided by an embodiment of the present disclosure
- FIG. 8 shows a schematic structural diagram of a computer device provided by an embodiment of the present disclosure.
- the current mapping and positioning algorithms mostly use a multi-sensor fusion scheme, that is, the observations in the respective coordinate systems of multiple sensors are unified into the same coordinate system, while The bridge that unifies the observations in the respective coordinate systems of multiple sensors into the same coordinate system is the external parameter data between the sensors. Therefore, the quality of external parameter calibration has a great influence on the performance of multi-sensor fusion algorithm.
- a mapping and positioning scheme that integrates positioning devices (such as integrated inertial navigation systems) and radar devices is common.
- positioning devices such as integrated inertial navigation systems
- radar devices For example, in the field of autonomous driving, a mapping and positioning scheme that integrates positioning devices (such as integrated inertial navigation systems) and radar devices is common.
- a series of equipment will be used to calibrate the positions of the positioning device and the radar device on the autonomous vehicle, so as to determine the external parameter data representing the relative positional relationship between the positioning device and the radar device.
- the relative position between the positioning device and the radar device will change during the use of the autonomous vehicle, the external parameter data needs to be updated regularly.
- the external parameter data can also be estimated by a hand-eye calibration algorithm.
- the self-driving vehicle can be controlled to run a certain trajectory, and the positioning data collected by the positioning device on the self-driving vehicle and the point cloud data collected by the radar device can be recorded during the operation of the self-driving vehicle, and then the positioning device and the radar device can be calculated respectively.
- Pose trajectory and then solve the external parameter data based on the hand-eye calibration algorithm.
- the measurement accuracy of the positioning device and the radar device is relatively high, and it can only provide variable parameters in three degrees of freedom.
- the external parameter data are parameters in six degrees of freedom, that is, the translation distance along the X-axis, Y-axis and Z-axis of the Cartesian coordinate system, and the rotation angle along the X-axis, Y-axis and Z-axis respectively, we can It is represented by (X, Y, Z, Roll, Pitch, Yaw), so the error of the external parameter data determined by this method is relatively large.
- the present disclosure provides a data processing method, which can determine the ground parameter information representing the ground and the initial pose data of the radar device according to the positioning data collected by the positioning device and the radar data collected by the radar device, Then, based on the ground parameter information and the initial pose data of the radar device, the external parameter data is adjusted. Since the ground parameter information and the initial pose data of the radar device can be obtained through data collection or calculation, in the process of adjusting the external parameter data, there is no need to manually calibrate the positions of the positioning device and the radar device with the help of other equipment, which improves the external parameters. The adjustment efficiency of data saves labor costs; in addition, in this scheme, the external parameter data is adjusted based on the pose change. Since the pose data is data with six degrees of freedom, when adjusting the external parameter data, you can All six quantities of the external parameter data are adjusted, thereby improving the adjustment accuracy of the external parameter data.
- the devices include, for example, terminal devices or servers or other processing devices, and the terminal devices may be user equipment (User Equipment, UE), mobile devices, user terminals, terminals, cellular phones, cordless phones, and personal digital assistants (Personal Digital Assistant, PDA) Wait.
- the data processing method may be processed by a processor installed on the automatic driving device.
- the data processing method provided by the embodiment of the present disclosure will be described below by taking the execution body as the processor installed on the automatic driving device as an example. It should be noted that the positioning device and the radar device are respectively connected to the processor, and the connection methods include: It is not limited to wired connection and wireless connection, wherein, the wireless connection mode may be, for example, Bluetooth connection, wireless local area network connection, or the like.
- an embodiment of the present disclosure provides a data processing method, which includes the following steps:
- Step 101 Acquire positioning data collected by a positioning device and point cloud data collected by a radar device; wherein the positioning device and the radar device are deployed on the same vehicle.
- Step 102 Based on the positioning data and the point cloud data, determine the position data of the radar device when collecting the point cloud data.
- Step 103 Determine ground parameter information representing the ground based on the point cloud data, and determine initial pose data of the radar device based on the position data.
- Step 104 Based on the ground parameter information and the initial pose data, adjust the external parameter data representing the relative positional relationship between the positioning device and the radar device.
- the ground parameter information representing the ground and the initial pose data of the radar device can be determined according to the positioning data collected by the positioning device and the radar data collected by the radar device, and then based on the ground parameter information and the initial pose data of the radar device , to adjust the external parameter data. Since the ground parameter information and the initial pose data of the radar device can be obtained through data collection or calculation, in the process of adjusting the external parameter data, there is no need to manually calibrate the positions of the positioning device and the radar device with the help of other equipment, which improves the external parameters. Data adjustment efficiency saves labor costs.
- Both the positioning device and the radar device may be installed on the same vehicle, and the installation positions of the positioning device and the radar device are different.
- the positioning device may be, for example, a Global Positioning System (Global Positioning System, GPS), or a combined inertial navigation system, which is a combination of GPS and inertial sensors.
- step 102 For step 102:
- the data collection frequencies of the radar device and the positioning device are different.
- the positioning device collects the position data, it can collect the position data according to the collection frequency set by the GPS satellite within the data collection time; when the radar device collects the point cloud data, it can emit a radio beam according to the set frequency, and the set frequency frequency to collect point cloud data.
- the collection frequency set by the GPS satellite is higher than the set frequency corresponding to the radar device.
- the positioning data collected by the positioning device includes a plurality of first collection time points and position data collected at each first collection time point, wherein the position data collected at each first collection time point includes latitude and longitude data and altitude data,
- the height data is the height relative to the sea level;
- the point cloud data includes a plurality of second collection time points and point cloud data collected at each second collection time point, wherein the points collected at each second collection time point
- the cloud data includes coordinate information of multiple radar scan points.
- the positioning data output by the positioning device is the positioning data adjusted based on the external parameter data representing the relative positional relationship between the positioning device and the radar device, that is, the positioning data output by the positioning device is the positioning data of the radar device.
- the location data corresponding to the point cloud data is collected at the collection time point.
- the position data corresponding to the point cloud data collected by the radar device at the second collection time point may also be referred to as “the position data corresponding to the radar device when collecting the cloud data at the second collection time point”, or further abbreviated as "Position data of the radar device at this second acquisition time point”.
- each second collection time point it may be first detected whether there is a first collection time point corresponding to the second collection time point; if the second collection time point has a corresponding first collection time point, the The position data of the first collection time point corresponding to the second collection time point is determined as the position data of the radar device when collecting the point cloud data of the second collection time point; if there is no corresponding first collection time point at the second collection time point At a collection time point, the position data of the radar device at the second collection time point is calculated based on the time interval between the first collection time point and the second collection time point.
- the two data with the shortest time interval from the second collection time point may be respectively determined first.
- the first collection time point, the two first collection time points include a first collection time point before the second collection time point and a first collection time point after the second collection time point, and then based on the two The position data corresponding to the first collection time points are determined, and the position data of the radar device at the second collection time point are determined.
- the average value of the position data of the two first collection time points with the shortest interval from the second time point may be determined as the position data of the radar device at the second collection time point.
- the points a 1 , b 1 , c 1 , d 1 , e 1 , f 1 , and g 1 above the horizontal line in FIG. 2 all represent the first acquisition time point.
- the collection time points have corresponding position data
- a 2 , b 2 , c 2 , d 2 , and e 2 at the bottom of the horizontal direction all represent the second collection time points, and each second collection time point has corresponding point cloud data.
- the first collection time points a 1 , d 1 , and g 1 all have corresponding second collection time points, and the specific corresponding relationship is a 1 ⁇ a 2 , d 1 ⁇ c 2 , g 1 ⁇ e 2 , then the The position data corresponding to the first collection time point a 1 is determined as the position data of the radar device at the second collection time point a 2 , and the position data corresponding to the first collection time point d 1 is determined as the radar device at the second collection time point c 2 , the position data corresponding to the first collection time point g1 is determined as the position data of the radar device at the second collection time point e2 .
- a second collection time point without a corresponding first collection time point such as b 2
- the mean value of the position data corresponding to the time points b 1 and c 1 respectively is determined as the position data of the radar device at the second collection time point b 2 .
- the position data of the radar device at the second acquisition time point d 2 can be calculated.
- the mean value of each item of data included in the position data may be calculated.
- the location data includes longitude, latitude, and altitude
- the mean value of longitude, mean value of latitude, and mean value of altitude can be calculated respectively, and then the mean value of longitude, mean value of latitude, and mean value of altitude can be used as the mean value of the mean value of the position data .
- the radar device may perform the determination based on the distance between the two first collection time points and the second collection time point.
- point a and point b are the first collection time point
- point c is the second collection time point
- when determining the position data of the radar device at the second collection time point c it can be determined according to The distance between the first collection time point a and the second collection time point c, and the distance between the first collection time point b and the second collection time point c, respectively determine the weights corresponding to the position data of the first collection time point a
- the weight corresponding to the position data at the first collection time point b, and then the position data at the first collection time point a and the position data at the first collection time point b are weighted and summed according to their corresponding weights to obtain the radar device at the first 2. Collect position data at time point c.
- the position data of the radar device at each second collection time point can be determined, thereby avoiding the interference caused by the difference in the data collection frequency of the radar device and the positioning device.
- the ground parameter information that characterizes the ground includes normal vector and intercept. Specifically, when determining the ground parameter information representing the ground based on the point cloud data, the method shown in FIG. 4 can be referred to, including the following steps:
- Step 401 Perform plane fitting based on the point cloud data to obtain fitting plane information.
- the plane fitting when the plane fitting is performed based on the point cloud data, the plane fitting can be performed based on the random sample consensus algorithm (Random sample consensus, RANSAC). Specifically, a preset ratio of point cloud data may be randomly selected from the point cloud data, and plane fitting may be performed based on the randomly selected point cloud data.
- RANSAC random sample consensus
- Step 402 based on the coordinate information of the radar scanning points in the point cloud data, determine the distance between each radar scanning point and the plane indicated by the fitting plane information.
- Step 403 Perform point cloud data screening based on the determined distance between each radar scanning point and the plane indicated by the fitting plane information.
- the radar scanning points that are not on the ground are filtered out. Specifically, when screening the point cloud data based on the determined distance between each radar scanning point and the plane indicated by the fitting information, the distance from the plane indicated by the fitting information may exceed a preset value. The radar scan points of the distance range are filtered out.
- Step 404 judging whether a preset iteration condition is satisfied.
- step 405 is performed;
- step 401 If the preset iterative conditions are not met, based on the filtered point cloud data, return to step 401 to continue screening the point cloud data.
- the preset iteration condition may be that the preset number of iterations is reached, or when the point cloud data is screened in step 403, the distances between all the radar scanning points and the plane indicated by the fitting plane information are all within the preset distance. within the range.
- Step 405 Determine ground parameter information based on the finally screened point cloud data.
- the point cloud data is screened multiple times by means of iterative fitting, and then the ground parameter information is determined based on the finally screened point cloud data, which improves the accuracy of the ground parameter information.
- ground parameter information is determined based on the last screened point cloud data
- plane fitting may be performed again based on the last screened point cloud data, and then ground parameter information of the fitted plane is determined, wherein the ground parameter information includes normal vector and intercept distance.
- At least one of the following data screening processes may also be performed:
- the point cloud data may be down-sampled by a voxel filtering method.
- the preset installation height of the radar device is the height of the radar device from the ground.
- the position of the radar device can be used as the starting point of the Z axis, and then the target coordinate range can be determined according to the preset installation height of the radar device.
- the target coordinate range can be used to indicate the height range of the radar scanning point located on the ground in the Z-axis.
- the pose data of the radar device includes not only the coordinates of the radar device in the established world coordinate system, but also at least one of a pitch angle, a yaw angle, and a roll angle.
- the automatic driving device may not drive on the same ground plane, therefore, the ground parameter information between different ground planes may be different. Therefore, in another embodiment of the present disclosure, the The height data in the position data, and the correspondence between the position data and the point cloud data, divide the point cloud data into multiple collection intervals, and each collection interval includes multiple second collection time points. It is considered that the vehicle is driving on the same ground plane.
- the height data may be filtered based on the height values of the height data at each second collection time point , and then determine at least one extreme point in the height data retained after filtering processing, and use the acquisition time point corresponding to each extreme point as the dividing point of the acquisition interval, and divide the point cloud data into multiple acquisition intervals.
- the height data collected by the automatic driving device during driving may be affected by obstacles on the ground, such as bumps caused by obstacles, etc.
- the height data collected by the automatic driving device can be filtered first. Specifically, the height value whose fluctuation frequency is higher than the set frequency or whose fluctuation range is smaller than the set range can be filtered out.
- the abscissa is the second collection time point
- the ordinate is the height data in the position data corresponding to each second collection time point
- the point in the line graph is the extreme point
- every two The second collection time point between the extreme points is a collection interval
- each collection interval includes multiple second collection time points, and similarly includes the corresponding point cloud data, for example, including multiple frames of point cloud images .
- the ground parameter information corresponding to the collection interval can be determined based on the point cloud data in the collection interval, and based on the point cloud collected in the collection interval
- the data is the position data of the radar device, and the initial pose data of the radar device corresponding to the collection interval is determined.
- the external parameter data representing the relative positional relationship between the positioning device and the radar device is adjusted.
- the external parameter data shown in FIG. 6 may be referred to.
- the adjustment method includes the following steps:
- Step 601 Determine optimized pose data corresponding to each collection interval based on the ground parameter information and the initial pose data corresponding to each collection interval.
- the optimized pose data corresponding to each collection interval when determining the optimized pose data corresponding to each collection interval based on the ground parameter information and the initial pose data corresponding to each collection interval, for any collection interval, it may be based on the collection interval.
- Corresponding ground parameter information and initial pose data determine the optimized pose data that minimizes the value of the objective function, and use the pose data that minimizes the value of the objective function as the optimized pose data corresponding to the collection interval data, wherein the objective function is the sum of the absolute value of the difference between the ground parameter information before and after the pose data optimization and the absolute value of the difference between the pose data before and after the pose data optimization.
- the objective function can be as shown in the following formula:
- N represents the number of point cloud images included in the point cloud data in the collection interval, that is, the number of second collection time points in the collection interval.
- a group of point cloud data will be collected, and this group of point cloud data can form a frame of point cloud image.
- the second collection time point corresponds to multiple sets of point cloud data
- each set of point cloud data corresponds to a frame of point cloud image
- the initial pose data corresponding to the set of point cloud data is calculated, and the Entering the above formula, and solving the formula by the least square method, the optimized pose data corresponding to the initial pose data of each frame of point cloud image can be obtained.
- the optimized ground parameter information can also be obtained, but the optimized ground parameter information has nothing to do with adjusting the external parameter data.
- the optimized pose data corresponding to the first frame of point cloud images can be calculated respectively
- the optimized pose data corresponding to the second frame of point cloud images The optimized pose data corresponding to the third frame of point cloud images and optimized ground parameter information
- each element in the vector represents the coordinates x, y, z, pitch angle, yaw angle, and roll angle of the radar device in the world coordinate system, respectively.
- each element in the vector represents the value and intercept of the normal vector, and the normal vector is a three-dimensional vector.
- Step 602 Adjust the external parameter data based on the initial pose data corresponding to each collection interval and the optimized pose data.
- the initial pose data corresponding to each collection interval and the optimized pose data can be adjusted first. pose data, and determine the first average pose change in the collection interval; then determine the second average pose change corresponding to multiple collection intervals based on the first average pose change in each collection interval; and then based on the first average pose change in each collection interval
- the second average pose change is to adjust the external parameter data.
- the frame of point cloud image when determining the first average pose change in any collection interval, for each frame of point cloud image corresponding to the point cloud data in the collection interval, the frame of point cloud image may be determined
- the first average pose change is calculated based on the pose change between the corresponding initial pose data and the optimized pose data, and then based on the pose change of the multi-frame point cloud images corresponding to the point cloud data.
- the latitude, longitude, altitude, latitude and longitude in the initial pose data can be calculated respectively.
- the amount of change corresponding to the latitude, longitude and altitude in the optimized pose data can be calculated respectively.
- the product between the second average pose change and the extrinsic data before adjustment may be determined as the adjusted external parameter.
- external parameter data when the external parameter data is adjusted based on the second average pose change, the product between the second average pose change and the extrinsic data before adjustment may be determined as the adjusted external parameter.
- the ground parameter information and the initial pose data of the radar device can be determined according to the positioning data collected by the positioning device and the radar data collected by the radar device, and then based on the ground parameter information and the initial pose data of the radar device, the external
- the external In the process of adjusting the external parameter data, there is no need to use other equipment to calibrate the relative position of the positioning device and the radar device, which improves the accuracy and adjustment efficiency of the external parameter data, and then determines the pose data of the radar device. Higher efficiency and precision.
- the writing order of each step does not mean a strict execution order but constitutes any limitation on the implementation process, and the specific execution order of each step should be based on its function and possible Internal logic is determined.
- the embodiment of the present disclosure also provides a data processing apparatus corresponding to the data processing method. Reference may be made to the implementation of the method, and repeated descriptions will not be repeated.
- an embodiment of the present disclosure provides a data processing apparatus, the apparatus includes: an acquisition module 701, a first determination module 702, a second determination module 703, and an adjustment module 704; wherein,
- An acquisition module 701 configured to acquire positioning data collected by a positioning device and point cloud data collected by a radar device; wherein the positioning device and the radar device are deployed on the same vehicle;
- a first determining module 702 configured to determine, based on the positioning data and the point cloud data, the position data of the radar device when the point cloud data is collected;
- a second determining module 703, configured to determine ground parameter information representing the ground based on the point cloud data, and determine initial pose data of the radar device based on the position data;
- the adjustment module 704 is configured to adjust the external parameter data representing the relative positional relationship between the positioning device and the radar device based on the ground parameter information and the initial pose data.
- the point cloud data includes coordinate information of multiple radar scanning points.
- the second determining module 703 is configured to: perform plane fitting based on the point cloud data to obtain fitting plane information; Coordinate information of radar scanning points in the point cloud data, determine the distance between each radar scanning point and the plane indicated by the fitting plane information; based on each radar scanning point determined and indicated by the fitting plane information According to the distance between the planes, screen the point cloud data, and based on the screened point cloud data, return to the step of plane fitting based on the point cloud data, until the preset iteration conditions are reached, based on the final screened point cloud data.
- the ground parameter information is determined.
- the second determining module 703 is further configured to perform at least one of the following data screening processes before performing plane fitting based on the point cloud data: performing a downgrade on the point cloud data Sampling processing, so that the distribution density of radar scanning points in the point cloud data conforms to preset conditions; screening out the radar scanning points whose corresponding coordinate information is located within the target coordinate range, wherein the target coordinate range is based on the radar scanning point.
- the preset installation height of the device is determined.
- the location data includes altitude data.
- the second determining module 703 is further configured to: divide the point cloud data into multiple collection intervals based on the height data in the position data and the correspondence between the position data and the point cloud data.
- the second determining module 703 divides the point cloud data into a plurality of pieces based on the height data in the position data and the correspondence between the position data and the point cloud data During the collection interval, it is used to: filter the height data, and determine at least one extreme point in the height data retained after filtering; take the collection time point corresponding to each extreme point as the dividing point of the collection interval, and divide the The point cloud data is divided into multiple collection intervals.
- the second determining module 703 when determining the ground parameter information representing the ground based on the point cloud data, and determining the initial pose data of the radar device based on the position data, Used for: for each collection interval, based on the point cloud data in the collection interval, determine the ground parameter information corresponding to the collection interval, and based on the position data of the radar device when collecting the point cloud data in the collection interval, determine the The initial pose data of the radar device corresponding to the collection interval is collected.
- the adjustment module 704 adjusts the external parameter data representing the relative positional relationship between the positioning device and the radar device based on the ground parameter information and the initial pose data, It is used for: adjusting the external parameter data representing the relative positional relationship between the positioning device and the radar device based on the ground parameter information and the initial pose data corresponding to each collection interval.
- the adjustment module 704 based on the ground parameter information and the initial pose data corresponding to each collection interval, adjusts the relationship between the positioning device and the radar device.
- the external parameter data of the relative position relationship is adjusted, it is used to: determine the optimized pose data corresponding to each collection interval based on the ground parameter information and the initial pose data corresponding to each collection interval; The initial pose data and the optimized pose data corresponding to each collection interval are adjusted to the external parameter data.
- the adjustment module 704 when determining the optimized pose data corresponding to each collection interval based on the ground parameter information and the initial pose data corresponding to each collection interval , for: for any collection interval, based on the ground parameter information corresponding to the collection interval and the initial pose data, determine the pose data that minimizes the value of the objective function, and will make the value of the objective function the smallest.
- the pose data is used as the optimized pose data corresponding to the collection interval, wherein the objective function is the absolute value of the difference between the ground parameter information before and after the pose data optimization is performed, and the pose data before and after the pose data optimization is performed. The sum of the absolute values of the differences.
- the adjustment module 704 when adjusting the external parameter data based on the initial pose data corresponding to each collection interval and the optimized pose data, is used to adjust the external parameter data. : Based on the initial pose data corresponding to each collection interval and the optimized pose data, determine the first average pose change in the collection interval; based on the first average pose change in each collection interval The second average pose change amount corresponding to the multiple collection intervals is determined; based on the second average pose change amount, the external parameter data is adjusted.
- the adjustment module 704 when adjusting the external parameter data based on the second average pose change amount, is configured to: adjust the second average pose change amount The product of the external parameter data before adjustment is determined as the external parameter data after adjustment.
- the positioning data includes position data collected at multiple first collection time points
- the point cloud data includes point cloud data collected at multiple second collection time points ; determining the position data of the radar device when collecting the point cloud data based on the positioning data and the point cloud data.
- the first determining module 702 is configured to: for each One of the second collection time points, in the case that there is a target first collection time point that overlaps with the second collection time point in the plurality of first collection time points, based on the corresponding first collection time point of the target determine the position data of the radar device at the second collection time point; in the case that the target first collection time point does not exist in the plurality of first collection time points, based on the plurality of first collection time points Position data corresponding to two adjacent first collection time points with the shortest time interval from the second collection time point in a collection time point, determine the position data of the radar device at the second collection time point, and the second collection time point.
- the acquisition time point is located between the two adjacent first acquisition time points.
- the functions or templates included in the apparatus provided by the embodiments of the present disclosure may be used to execute the methods described in the above method embodiments.
- the functions or templates included in the apparatus provided by the embodiments of the present disclosure may be used to execute the methods described in the above method embodiments.
- the computer device includes a processor 801 , a memory 802 , and a bus 803 .
- the memory 802 is used to store the execution instructions, including the memory 8021 and the external memory 8022; the memory 8021 here is also called the internal memory, and is used to temporarily store the operation data in the processor 801 and the data exchanged with the external memory 8022 such as the hard disk,
- the processor 801 exchanges data with the external memory 8022 through the memory 8021 .
- the processor 801 communicates with the memory 802 through the bus 803, so that the processor 801 executes the following instructions: acquiring the positioning data collected by the positioning device and the point cloud data collected by the radar device; wherein, the positioning The device and the radar device are deployed on the same vehicle; based on the positioning data and the point cloud data, the position data of the radar device when collecting the point cloud data is determined; the ground representing the ground is determined based on the point cloud data parameter information, and determining the initial pose data of the radar device based on the position data; based on the ground parameter information and the initial pose data, to characterize the relative relationship between the positioning device and the radar device The external parameter data of the positional relationship is adjusted.
- the specific processing process performed by the processor 801 may refer to the descriptions in the foregoing method embodiments, which will not be described herein again.
- Embodiments of the present disclosure further provide a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is run by a processor, the steps of the data processing method described in the foregoing method embodiments are executed.
- the storage medium may be a volatile or non-volatile computer-readable storage medium.
- the computer program product of the data processing method provided by the embodiments of the present disclosure includes a computer-readable storage medium storing program codes, and the instructions included in the program codes can be used to execute the steps of the data processing methods described in the above method embodiments. .
- the computer program product can be specifically implemented by hardware, software or a combination thereof.
- the computer program product is embodied as a computer storage medium, and in another optional embodiment, the computer program product is embodied as a software product, such as a software development kit (Software Development Kit, SDK), etc. Wait.
- the units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.
- each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.
- the functions, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a processor-executable non-volatile computer-readable storage medium.
- the computer software products are stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present disclosure.
- the aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program codes .
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Quality & Reliability (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Description
Claims (14)
- 一种数据处理方法,包括:获取定位装置采集的定位数据和雷达装置采集的点云数据;其中,所述定位装置和所述雷达装置部署在同一车辆上;基于所述定位数据和所述点云数据,确定所述雷达装置在采集所述点云数据时的位置数据;基于所述点云数据确定表征地面的地面参数信息,以及基于所述位置数据确定所述雷达装置的初始位姿数据;基于所述地面参数信息、以及所述初始位姿数据,对表征所述定位装置与所述雷达装置之间的相对位置关系的外参数据进行调整。
- 根据权利要求1所述的方法,其特征在于,所述点云数据中包括多个雷达扫描点的坐标信息;所述基于所述点云数据确定表征地面的地面参数信息,包括:基于所述点云数据进行平面拟合,得到拟合平面信息;基于所述点云数据中雷达扫描点的坐标信息,确定每一个雷达扫描点与所述拟合平面信息所指示的平面之间的距离;基于所述确定的每一个雷达扫描点与所述拟合平面信息所指示的平面之间的距离,进行点云数据筛选,并基于筛选后的点云数据,返回所述基于所述点云数据进行平面拟合的步骤,直到达到预设迭代条件,基于最终筛选的点云数据确定所述地面参数信息。
- 根据权利要求2所述的方法,其特征在于,在基于所述点云数据进行平面拟合之前,执行以下至少一种数据筛选过程:对所述点云数据进行降采样处理,使得所述点云数据中雷达扫描点的分布密度符合预设条件;筛选出对应的坐标信息位于目标坐标范围内的雷达扫描点,其中所述目标坐标范围是根据所述雷达装置的预设安装高度确定的。
- 根据权利要求1所述的方法,其特征在于,所述位置数据包括高度数据;所述方法还包括:基于所述位置数据中的高度数据,以及所述位置数据和所述点云数据之间的对应关系,将所述点云数据划分至多个采集区间。
- 根据权利要求4所述的方法,其特征在于,所述基于所述位置数据中的高度数据,以及所述位置数据和所述点云数据之间的对应关系,将所述点云数据划分至多个采集区间,包括:对所述高度数据进行过滤,确定过滤后保留的高度数据中的至少一个极值点;以各个极值点对应的采集时间点作为采集区间的切分点,将所述点云数据划分至多个采集区间。
- 根据权利要求4所述的方法,其特征在于,所述基于所述点云数据确定表征地面的地面参数信息,以及基于所述位置数据确定所述雷达装置的初始位姿数据,包括:针对每个所述采集区间,基于该采集区间内的点云数据,确定该采集区间对应的地面参数信息,以及基于所述雷达装置在采集该采集区间内的点云数据时的位置数据,确定该采集区间对应的所述雷达装置的初始位姿数据;所述基于所述地面参数信息、以及所述初始位姿数据,对表征所述定位装置与所述雷达装置之间的相对位置关系的外参数据进行调整,包括:基于每个所述采集区间对应的所述地面参数信息和所述初始位姿数据,对表征所述定位装置与所述雷达装置之间的相对位置关系的外参数据进行调整。
- 根据权利要求6所述的方法,其特征在于,所述基于每个所述采集区间对应的所述地面参数信息和所述初始位姿数据,对表征所述定位装置与所述雷达装置之间的相对位置关系的外参数据进行调整,包括:基于每个所述采集区间对应的所述地面参数信息和所述初始位姿数据,确定每个所述采集区间对应的优化后的位姿数据;基于每个所述采集区间对应的所述初始位姿数据、以及所述优化后的位姿数据,对所述外参数据进行调整。
- 根据权利要求7所述的方法,其特征在于,基于每个所述采集区间对应的所述地面参数信息和所述初始位姿数据,确定每个所述采集区间对应的优化后的位姿数据,包括:针对任一个所述采集区间,基于该采集区间对应的所述地面参数信息、以及所述初始位姿数据,确定使得目标函数的值最小的位姿数据,将使得所述目标函数的值最小的位姿数据作为该采集区间对应的优化后的位姿数据,其中,所述目标函数为进行位姿数据优化前后的地面参数信息之差的绝对值,与进行位姿数据优化前后的位姿数据之差的绝对值之和。
- 根据权利要求7所述的方法,其特征在于,所述基于每个所述采集区间对应的所述初始位姿数据、以及所述优化后的位姿数据,对所述外参数据进行调整,包括:基于每个所述采集区间对应的初始位姿数据及所述优化后的位姿数据,确定该采集区间内的第一平均位姿变化量;基于每个所述采集区间内的所述第一平均位姿变化量,确定所述多个采集区间对应的第二平均位姿变化量;基于所述第二平均位姿变化量,对所述外参数据进行调整。
- 根据权利要求9所述的方法,其特征在于,所述基于所述第二平均位姿变化量,对所述外参数据进行调整,包括:将所述第二平均位姿变化量与调整前的外参数据的乘积确定为调整后的外参数据。
- 根据权利要求1所述的方法,其特征在于,所述定位数据中包含在多个第一采集时间点分别采集的位置数据,所述点云数据中包含在多个第二采集时间点分别采集的点云数据;所述基于所述定位数据和所述点云数据,确定所述雷达装置在采集所述点云数据时的位置数据,包括:针对每一个所述第二采集时间点,在所述多个第一采集时间点中存在与该第二采集时间点重叠的目标第一采集时间点的情况下,基于所述目标第一采集时间点对应的位置数据确定所述雷达装置在该第二采集时间点的位置数据;在所述多个第一采集时间点中不存在所述目标第一采集时间点的情况下,基于所述多个第一采集时间点中与该第二采集时间点相隔时间最短的两个相邻第一采集时间点分别对应的位置数据,确定所述雷达装置在该第二采集时间点的位置数据,该第二采集时间点位于所述两个相邻第一采集时间点之间。
- 一种数据处理装置,包括:获取模块,用于获取定位装置采集的定位数据和雷达装置采集的点云数据;其中,所述定位装置和所述雷达装置部署在同一车辆上;第一确定模块,用于基于所述定位数据和所述点云数据,确定所述雷达装置在采集所述点云数据时的位置数据;第二确定模块,用于基于所述点云数据确定表征地面的地面参数信息,以及基于所述位置数据确定所述雷达装置的初始位姿数据;调整模块,用于基于所述地面参数信息、以及所述初始位姿数据,对表征所述定位装置与所述雷达装置之间的相对位置关系的外参数据进行调整。
- 一种计算机设备,包括处理器、存储器和总线,所述存储器存储有所述处理器可执行的机器可读指令,当计算机设备运行时,所述处理器与所述存储器之间通过总线通信,所述机器可读指令被所述处理器执行时执行如权利要求1至11任一所述的数据处理方法。
- 一种计算机可读存储介质,其上存储有计算机程序,该计算机程序被处理器运行时执行如权利要求1至11任意一项所述的数据处理方法。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020227007210A KR20220058901A (ko) | 2020-10-30 | 2021-06-28 | 데이터 처리 방법 및 장치 |
JP2022514853A JP2023503767A (ja) | 2020-10-30 | 2021-06-28 | データの処理方法及び装置 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202011190058.9 | 2020-10-30 | ||
CN202011190058.9A CN112164063A (zh) | 2020-10-30 | 2020-10-30 | 一种数据处理方法及装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2022088723A1 true WO2022088723A1 (zh) | 2022-05-05 |
Family
ID=73865259
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CN2021/102869 WO2022088723A1 (zh) | 2020-10-30 | 2021-06-28 | 一种数据处理方法及装置 |
Country Status (4)
Country | Link |
---|---|
JP (1) | JP2023503767A (zh) |
KR (1) | KR20220058901A (zh) |
CN (1) | CN112164063A (zh) |
WO (1) | WO2022088723A1 (zh) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112164063A (zh) * | 2020-10-30 | 2021-01-01 | 上海商汤临港智能科技有限公司 | 一种数据处理方法及装置 |
CN112835007B (zh) * | 2021-01-07 | 2023-04-18 | 北京百度网讯科技有限公司 | 点云数据转换方法、装置、电子设备和存储介质 |
CN112946591A (zh) * | 2021-02-26 | 2021-06-11 | 商汤集团有限公司 | 外参标定方法、装置、电子设备及存储介质 |
CN112946612B (zh) * | 2021-03-29 | 2024-05-17 | 上海商汤临港智能科技有限公司 | 外参标定方法、装置、电子设备及存储介质 |
CN113484843A (zh) * | 2021-06-02 | 2021-10-08 | 福瑞泰克智能系统有限公司 | 一种激光雷达与组合导航间外参数的确定方法及装置 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20180357503A1 (en) * | 2017-06-13 | 2018-12-13 | TuSimple | Sensor calibration and time system for ground truth static scene sparse flow generation |
CN110443786A (zh) * | 2019-07-25 | 2019-11-12 | 深圳一清创新科技有限公司 | 激光雷达点云滤波方法、装置、计算机设备和存储介质 |
CN111208492A (zh) * | 2018-11-21 | 2020-05-29 | 长沙智能驾驶研究院有限公司 | 车载激光雷达外参标定方法及装置、计算机设备及存储介质 |
CN111435163A (zh) * | 2020-03-18 | 2020-07-21 | 深圳市镭神智能系统有限公司 | 地面点云数据过滤方法、装置、探测系统及存储介质 |
CN112164063A (zh) * | 2020-10-30 | 2021-01-01 | 上海商汤临港智能科技有限公司 | 一种数据处理方法及装置 |
-
2020
- 2020-10-30 CN CN202011190058.9A patent/CN112164063A/zh active Pending
-
2021
- 2021-06-28 KR KR1020227007210A patent/KR20220058901A/ko unknown
- 2021-06-28 JP JP2022514853A patent/JP2023503767A/ja not_active Withdrawn
- 2021-06-28 WO PCT/CN2021/102869 patent/WO2022088723A1/zh active Application Filing
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20180357503A1 (en) * | 2017-06-13 | 2018-12-13 | TuSimple | Sensor calibration and time system for ground truth static scene sparse flow generation |
CN111208492A (zh) * | 2018-11-21 | 2020-05-29 | 长沙智能驾驶研究院有限公司 | 车载激光雷达外参标定方法及装置、计算机设备及存储介质 |
CN110443786A (zh) * | 2019-07-25 | 2019-11-12 | 深圳一清创新科技有限公司 | 激光雷达点云滤波方法、装置、计算机设备和存储介质 |
CN111435163A (zh) * | 2020-03-18 | 2020-07-21 | 深圳市镭神智能系统有限公司 | 地面点云数据过滤方法、装置、探测系统及存储介质 |
CN112164063A (zh) * | 2020-10-30 | 2021-01-01 | 上海商汤临港智能科技有限公司 | 一种数据处理方法及装置 |
Also Published As
Publication number | Publication date |
---|---|
JP2023503767A (ja) | 2023-02-01 |
KR20220058901A (ko) | 2022-05-10 |
CN112164063A (zh) | 2021-01-01 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2022088723A1 (zh) | 一种数据处理方法及装置 | |
CN108152831B (zh) | 一种激光雷达障碍物识别方法及系统 | |
JP2020530569A (ja) | 車両センサの較正及び位置特定 | |
WO2022142185A1 (zh) | 位姿数据的确定方法、装置、电子设备及车辆 | |
CN110223380B (zh) | 融合航拍与地面视角图像的场景建模方法、系统、装置 | |
CN110763239B (zh) | 滤波组合激光slam建图方法及装置 | |
CN114216454B (zh) | 一种gps拒止环境下基于异源图像匹配的无人机自主导航定位方法 | |
CN113674412B (zh) | 基于位姿融合优化的室内地图构建方法、系统及存储介质 | |
CN112051575A (zh) | 一种毫米波雷达与激光雷达的调整方法及相关装置 | |
CN110736456A (zh) | 稀疏环境下基于特征提取的二维激光实时定位方法 | |
CN114077249B (zh) | 一种作业方法、作业设备、装置、存储介质 | |
CN115683141A (zh) | 一种未知环境下用于自动驾驶的局部参考路径生成方法 | |
WO2021081958A1 (zh) | 地形检测方法、可移动平台、控制设备、系统及存储介质 | |
JP3874363B1 (ja) | 位置評定装置、位置評定方法および位置評定プログラム | |
CN117367412B (zh) | 一种融合捆集调整的紧耦合激光惯导里程计与建图方法 | |
CN117029870A (zh) | 一种基于路面点云的激光里程计 | |
CN117451032A (zh) | 一种低算力与松耦合的激光雷达和imu的slam方法及系统 | |
CN116879917A (zh) | 一种激光雷达地形匹配辅助导航方法及系统 | |
CN113155126A (zh) | 一种基于视觉导航的多机协同目标高精度定位系统及方法 | |
KR102130687B1 (ko) | 다중 센서 플랫폼 간 정보 융합을 위한 시스템 | |
WO2023226155A1 (zh) | 多源数据融合定位方法、装置、设备及计算机存储介质 | |
WO2023226154A1 (zh) | 自主定位方法、装置、设备及计算机可读存储介质 | |
CN116465393A (zh) | 基于面阵激光传感器的同步定位和建图方法及装置 | |
CN114519671B (zh) | 无人机遥感影像动态快速拼接方法 | |
CN115512054A (zh) | 三维时空连续点云地图的构建方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
ENP | Entry into the national phase |
Ref document number: 2022514853 Country of ref document: JP Kind code of ref document: A |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 21884464 Country of ref document: EP Kind code of ref document: A1 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
WWE | Wipo information: entry into national phase |
Ref document number: 522432313 Country of ref document: SA |
|
32PN | Ep: public notification in the ep bulletin as address of the adressee cannot be established |
Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 02.10.2023) |