WO2023010540A1

WO2023010540A1 - Method and apparatus for verifying scanning result of laser radar, and device and storage medium

Info

Publication number: WO2023010540A1
Application number: PCT/CN2021/111228
Authority: WO
Inventors: 蔡俊安
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2021-08-06
Filing date: 2021-08-06
Publication date: 2023-02-09

Abstract

Provided in the present application are a method and apparatus for verifying a scanning result of a laser radar, and a computer device and a computer-readable storage medium. The method comprises: acquiring a specified laser radar model specified by a user (202); acquiring a specified simulation scenario where the specified laser radar model specified by the user is located (204), wherein the specified simulation scenario at least comprises: a specified carrier model that carries the specified laser radar model, and a specified carrying mode of a specified laser radar; and displaying, in a first user interface, a scanning result of the specified laser radar model in the specified simulation scenario (206).

Description

Method, device, equipment, and storage medium for verifying scanning results of laser radar

technical field

The present application relates to the technical field of laser radar, and in particular, relates to a verification method, device, computer equipment, and computer-readable storage medium for scanning results of laser radar.

Background technique

In recent years, lidar technology has developed rapidly in the direction of miniaturization, low cost and diversification, and it is playing an increasingly important role in the fields of automatic identification and automatic detection.

Contents of the invention

In view of this, the present application provides a verification method, device, computer equipment, and computer-readable storage medium for the scanning results of the laser radar, so as to solve the problem of requiring more manpower, material resources, and verification when verifying the scanning results of the laser radar in the related art. The problem of poor efficiency.

In a first aspect, a method for verifying a scanning result of a lidar is provided, the method comprising:

Obtain the specified lidar model specified by the user;

Acquiring the designated simulation scene where the designated lidar model is located specified by the user; the designated simulation scene at least includes: a designated carrier model carrying the designated lidar model, and a designated loading method of the designated lidar;

A scanning result of the specified lidar model in the specified simulation scene is displayed on the first user interface.

In a second aspect, there is provided a device for verifying the scanning results of the laser radar, the device includes a processor, a memory, and a computer program stored on the memory that can be executed by the processor, and the processor executes the computer program. The program is the steps to realize the method described in the first aspect.

In a third aspect, a computer device is provided, and the computer device includes the device for verifying the scanning result of the lidar described in the second aspect.

In a fourth aspect, a computer-readable storage medium is provided, and several computer instructions are stored on the computer-readable storage medium, and when the computer instructions are executed, the steps of the method described in the first aspect are implemented.

Applying the scheme provided by this application, users can specify the specified lidar model they need, and can also specify the specified simulation scene where the specified laser radar model is located. The specified simulation scene includes at least: Designate the carrier model, and the designated loading method of the designated laser radar; based on this, the scanning results of the designated laser radar model in the designated simulation scene can be displayed in the first user interface, so that users can intuitively check and Verify the scan results of its specified lidar in the specified simulated scene. Since users can quickly specify different lidar models and different simulation scenarios according to their needs, so as to meet the user's verification requirements for lidar, users do not need to manually place lidar in the actual site, so they are not limited by the actual site. It can cover many scenarios, and the verification process is efficient and fast.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those skilled in the art, other drawings can also be obtained based on these drawings without any creative effort.

FIG. 1 is a schematic diagram of a field of view of a laser radar according to an embodiment of the present application.

FIG. 2A is a flow chart of a method for verifying a scanning result of a lidar according to an embodiment of the present application.

FIG. 2B is a schematic diagram of an operation carrying mode of an embodiment of the present application.

FIG. 2C is a schematic diagram showing scanning results according to an embodiment of the present application.

FIG. 2D is another schematic diagram showing scanning results according to an embodiment of the present application.

FIG. 2E is another schematic diagram showing scanning results according to an embodiment of the present application.

FIG. 2F1 is another schematic diagram showing scanning results according to an embodiment of the present application.

FIG. 2F2 is another schematic diagram showing scanning results according to an embodiment of the present application.

FIG. 2G is another schematic diagram showing scanning results according to an embodiment of the present application.

FIG. 2H is a schematic diagram of acquiring a point cloud according to an embodiment of the present application.

FIG. 2I is a schematic diagram showing statistical information according to an embodiment of the present application.

FIG. 3 is a schematic diagram of a device used in the present application for implementing the method for verifying the scanning result of the laser radar in this embodiment.

FIG. 4 is a schematic diagram of a computer device used in the present application to implement the method for verifying the scanning result of the lidar according to this embodiment.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all of them.

LiDAR scan results are affected by a variety of factors. For example, due to their own internal parameters (referred to as internal parameters), different lidars will have different scanning methods and scanning areas; or, lidars usually need to be mounted on a certain carrier, and lidars can have many different types on the carrier. The loading method is characterized by the external parameters of the lidar (external parameters for short), and the different loading methods of the lidar on the carrier will have different scanning areas; or, when multiple lidars are mounted on the same carrier, multiple LiDAR can be combined in different ways, which will affect the final area covered by all LiDAR scans. It can be seen that under different scenarios and detection requirements, different internal parameters of LiDAR, different LiDAR loading methods or different combination methods will have an impact on the scanning results.

In practical applications, it is necessary to design different layouts of different lidars on the carrier. In order to pursue the optimal solution of the lidar configuration, some solutions are to estimate the scanning area of a certain configuration of the lidar, and artificially Actually replace and place the lidar, so as to try different external parameter configuration schemes. This method is time-consuming and labor-intensive, and the basic effect verification time is too long; and due to the limitation of the actual site, it is difficult to cover various scenarios.

In other solutions, it is possible to make laser radar configuration editing software for customers to use. However, this method only shows the field of view (FOV, angle of view) of the laser radar, as shown in Figure 1, which is the basis of this application. An exemplary embodiment shows a schematic diagram of the field of view angle of a laser radar, which shows the field of view range 101 that the laser radar 10 can cover. Obviously, only showing the field of view of the laser radar cannot meet the actual needs of users. This solution has the problems that the display of scanning results is not intuitive enough and the data deviation is too large.

Based on this, the embodiment of the present application provides a brand-new verification scheme for the scanning results of the lidar. The scheme of this embodiment provides users with an efficient verification scheme for the scanning results of the lidar by means of simulation, which can It is convenient for users to configure different lidars and different scenarios where lidars are located. It can intuitively and accurately display the scanning results of lidars, so that users can verify the scanning results of different lidars in different scenarios, so as to satisfy users. Verification requirements for lidar. Moreover, in this solution, the user does not need to manually place the lidar in the actual site, so it is not limited by the actual site, and can cover many scenarios. The verification process is efficient and fast, and does not require a lot of manpower and material resources. Next, the scheme of this embodiment will be described in detail.

As shown in FIG. 2A , it is a flow chart of a method for verifying a scanning result of a laser radar according to an exemplary embodiment of the present application, and the method includes:

In step 202, a specified lidar model specified by a user is obtained.

In step 204, the specified simulation scene where the specified lidar model specified by the user is obtained; the specified simulation scene includes at least: a specified carrier model equipped with the specified lidar model, and the specified lidar model Specify the loading method.

In step 206, the scanning result of the specified lidar model in the specified simulation scene is displayed on the first user interface.

In the scheme of this embodiment, the user can specify the specified laser radar model that he needs, and can also specify the specified simulation scene where the specified laser radar model is located. The specified simulation scene includes at least: the specified The carrier model, and the specified loading method of the specified laser radar; based on this, the scanning results of the specified laser radar model in the specified simulation scene can be displayed in the first user interface, so that the user can intuitively check and verify The scanning result of the specified lidar in the specified simulation scene. In this embodiment, the user can quickly specify different lidar models and different simulation scenarios according to the needs, so as to meet the user's verification requirements for the lidar. The user does not need to manually place the lidar in the actual site, so it is not affected by the actual Due to the limitation of the site, it can cover many scenarios, and the verification process is efficient and fast.

The scheme of this embodiment adopts a simulation method to provide users with an efficient verification embodiment of the laser radar scanning results. In some examples, the above verification method can be applied to the client, optionally, the client can be a client of C/S (Client/Server, client/server) architecture, or a B/S (Browser/Server) , browser/server) web client under architecture. The client in this embodiment can run on a computer device, such as a personal computer, a smart phone, a tablet device, or a personal digital assistant.

In some examples, the scheme of this embodiment can simulate the laser radar to construct a laser radar model, and the user can specify one or more laser radar models. In this embodiment, the laser radar model specified by the user is called the specified laser radar Model. This embodiment does not limit the specific number of specified lidar models, there may be one or more, and the user can flexibly configure according to needs.

In some examples, the method of obtaining the specified lidar model specified by the user may be to provide a variety of preset lidar models for the user to choose in advance, or may be a lidar model imported by the user. As an example, the obtaining the specified lidar model specified by the user may include: displaying a plurality of preset lidar models for the user to choose, and obtaining the preset lidar model selected by the user; Imported lidar model.

For the embodiment in which multiple preset lidar models are displayed for users to choose, as an example, multiple lidar models can be pre-built, which is called a preset lidar model in this embodiment; optionally, the preset lidar model can be It is pre-configured on the client, or it can be configured on the server, and the client obtains it from the server.

Optionally, the construction method of the lidar model is preset, which can be flexibly implemented according to needs in practical applications. For example, the lidar model can be drawn and constructed by technicians in advance using existing model building software.

Optionally, the preset lidar model in this embodiment may have internal parameters, that is, the lidar model can be used to simulate a lidar with internal parameters, and different preset lidar models represent lidars with different internal parameters, so that The client can simulate lidars with different internal parameters, and users can select lidar models with different internal parameters to verify the scanning results of different lidars.

In practical applications, the internal parameters of the laser radar can be flexibly configured according to the needs. As an example, it can include any of the following: the scanning frequency of the laser radar, the direction angle of the laser emitted by the laser radar, or the field of view of the laser radar. As an example, the scanning The frequency can refer to the number of scans per unit cycle of the laser radar. The direction angle of the laser emitted by the laser radar is the angle of the laser emitted by the laser radar. The field of view of the laser radar includes the horizontal field of view and the vertical field of view. Based on In this way, the lidar model can represent the real lidar more realistically, making the scanning results of the simulation more accurate and reliable.

In some examples, the preset lidar model may include: a lidar model constructed according to a real lidar, that is, the preset lidar model may correspond to a real lidar, based on this, users can use these The lidar model performs scanning verification of the real lidar, making the scanning verification results more authentic and reliable. Of course, the preset lidar model in this embodiment may also use self-defined internal references, or may not correspond to the real lidar. Based on this, it can be used for users to verify more scanning results of lidar, so as to satisfy more needs of users. Verify requirements.

Optionally, the client can display all or part of the preset lidar models through a user interface, and the user can check these preset lidar models and select them as needed.

In some examples, there are multiple pre-built preset lidar models. In order to facilitate user selection, the display of multiple preset lidar models includes: displaying the real lidar corresponding to the preset lidar model is as follows Any information: brand name, model name or internal reference, through the display of these information, users can easily and quickly select the desired lidar model.

Optionally, the client can provide a selection function for the preset lidar model. Users can use the selection function provided by the client to operate to select the lidar model they need. The client can use this selection function to Get the specified lidar model selected by the user.

In practical applications, the selection function can be implemented in various ways according to needs. In one example, the selection function can specifically be a check control. By checking the control, the user can quickly select the desired specified lidar model. In other examples, the selection function can specifically be an edit control. After the user can edit the number or name of the lidar model he needs, the client obtains the number or name edited by the user through the edit control, and finds out the right The specified lidar model that should be numbered or named.

For the embodiment of obtaining the lidar model imported by the user through the first import function, since the first import function is provided for the user to import the lidar model, the solution of this embodiment can support the lidar model imported by the user, thereby satisfying the needs of the user. Many customization needs. Optionally, support for a variety of different lidar model formats can be realized as needed. For example, this function can be realized in advance according to the existing model format. For example, the following formats of lidar models can be supported: .FBX format, .OBJ format, or .STL format, etc., which are not limited in this embodiment.

In some examples, in order to more accurately simulate the lidar, the acquiring the lidar model imported by the user includes: acquiring the lidar model file imported by the user, according to the internal parameters of the lidar recorded in the lidar model file , to generate the lidar model. In this embodiment, the lidar internal parameters recorded in the lidar model file imported by the user can accurately generate the lidar model based on the recorded internal parameters.

In other examples, there may be other implementation methods for obtaining the lidar model. For example, the solution of this embodiment may provide a model building function, and the user may use the model building function to build a lidar model.

The scheme of this embodiment can also construct the simulation scene where the laser radar is located by simulating the scene; the user can specify the simulation scene he needs, and this embodiment refers to the simulation scene specified by the user as the specified simulation scene. Usually, the lidar needs to be mounted on the carrier, and the lidar can be mounted on the carrier in any way. Therefore, the specified simulation scene in this embodiment at least includes: the specified carrier model carrying the specified lidar model, and The designated carrying method of the designated lidar.

In some examples, the manner of obtaining the designated carrier model specified by the user may be to provide multiple preset carrier models for the user to choose in advance, or to use a carrier model imported by the user. As an example, the manner of acquiring the carrier model may include: displaying a plurality of preset carrier models for the user to select, and obtaining the preset carrier model selected by the user; and/or obtaining the carrier model imported by the user through the second import function.

For the embodiment in which multiple preset carrier models are displayed for users to choose, as an example, multiple carrier models can be pre-built, which is called a preset carrier model in this embodiment; optionally, the preset carrier model can be preconfigured in the customer It can also be configured on the server side, and the client can obtain it from the server side.

Optionally, the method of constructing the carrier model is preset, which can be flexibly implemented according to the needs in practical applications. For example, the carrier model can be drawn and constructed by technicians using existing model building software in advance.

In some examples, the preset carrier model may include: a carrier model constructed according to the real carrier, that is, the preset carrier model may correspond to the real carrier, and based on this, users can use these carrier models for real Scan verification makes the scan verification results more authentic and reliable. Of course, the preset carrier model in this embodiment may also include a custom model, that is, it may not correspond to the real carrier. Based on this, the lidar can be mounted on any carrier for users to verify more laser radar scans As a result, more verification requirements of users are met. Optionally, the preset carrier model in this embodiment may have parameters, where the parameters may include parameters such as the shape, size, length, width, and height of the carrier, which can be flexibly configured as required in practical applications.

Optionally, the client can display all or part of the preset carrier models through a user interface, and the user can check these preset carrier models and select them as needed.

In some examples, there are multiple pre-built preset carrier models, and for the convenience of the user to select, the displaying multiple preset carrier models includes: displaying any of the following information of the real carrier corresponding to the preset carrier model: Brand name, model name or parameters, through the display of these information, users can easily and quickly select the required carrier model. As an example, for the carrier model corresponding to the real carrier, this embodiment can facilitate the user to select by displaying the above information.

In some other examples, the carrier model imported by the user can also be obtained through the second import function. Since the second import function is provided for the user to import the carrier model, the solution of this embodiment can support the carrier model imported by the user, thereby satisfying the needs of the user. More customization needs. Optionally, support for a variety of different carrier model formats can be implemented as required. For example, this function can be realized in advance according to the existing model format. For example, carrier models in the following formats can be supported: .FBX format, .OBJ format or .STL format, etc., which is not limited in this embodiment.

In other examples, there may be other ways to obtain the carrier model. For example, the solution of this embodiment may provide a model building function, and the user may use the model building function to build a carrier model.

In some examples, the specified carrier model includes: a movable platform model and/or a fixed carrier model. Wherein, the movable platform model includes any of the following: vehicle model, drone model or robot model. As an example, the vehicle model may include a car model, an SUV (Sports Utility Vehicles, sport utility vehicle) model, or a bus model; the robot model may include multiple types, such as a sweeping robot model, a distribution robot model, and the like. The fixed carrier model can be a non-movable carrier model, for example, it can include a carrier model corresponding to a real object, such as a support frame model or a signpost model, etc., and can also include a custom carrier model, such as a custom-shaped carrier model, such as a cube Models, etc., so as to meet the various verification needs of users.

In actual scenarios, the lidar can be mounted in any way on the carrier. In this embodiment, the user-specified loading method is referred to as the specified loading method. Wherein, the mounting method is a parameter that characterizes the mounting of the lidar on the carrier. As an example, it can be characterized by any of the following information: mounting position, mounting angle, mounting height or orientation, and the like. For example, the loading position may include the coordinate position of the lidar model in three-dimensional space, the loading angle may include the angle of the lidar model relative to the horizontal or vertical plane, the loading height may include the height of the lidar model relative to the ground, and the orientation may include The direction of the lidar model, of course, can also be characterized by other more parameters in practical applications, which is not limited in this embodiment.

In some examples, the user can operate the loading mode, so that the solution of this embodiment can allow the user to specify the loading mode he needs. In order to provide convenient operation for the user, optionally, this embodiment may provide a carrying configuration function for the user to configure the specified carrying mode.

In practical applications, the piggyback configuration function can be implemented in multiple ways according to needs. As an example, the piggyback configuration function includes any of the following functions:

Drag-and-drop function; as an example, a drag-and-drop control can be used to implement, the drag-and-drop control corresponds to a specified lidar model, and the user can perform a drag-and-drop operation to configure the loading method of the specified lidar model on the carrier.

Rotation function; as an example, the rotation function can specifically include rotation functions in various directions, such as 90° rotation, 180° rotation, or symmetrical rotation. A specified lidar model is rotated to configure the loading method of the specified lidar model on the carrier.

Coordinate configuration function; as an example, the scheme of this embodiment can provide a coordinate configuration function for any specified lidar model according to the coordinate system of the simulated scene. The coordinates of the lidar model, so as to configure the loading method of the specified lidar model on the carrier.

Pitch angle configuration function, yaw angle configuration function or roll angle configuration function; as an example, the scheme of this embodiment can provide the pitch angle configuration function, yaw angle configuration function and /or roll angle configuration function The coordinate configuration function, the configuration function of the above three types of angles, can be realized through the editing control, the user can input the pitch angle, yaw angle or roll angle of the specified lidar model through the editing control, so that The configuration specifies how the lidar model is carried on the carrier.

As shown in FIG. 2B , it is a schematic diagram of an operation loading method according to an exemplary embodiment of the present application. The user window on the right side in FIG. 2B shows a variety of controls that can be operated by the user, such as drag and drop controls, rotation controls, and the like. It also includes editing controls for LocX, LocY, LocZ, Pitch, Yaw, and Roll, where LocX, LocY, and LocZ refer to coordinates, and Pitch, Yaw, and Roll refer to pitch angle, yaw angle, and roll angle, respectively.

In some examples, the carrying method may include a carrying method representing that the lidar is mounted on the outside of the carrier; in other examples, the carrying method may also include a carrying method representing that the laser radar is embedded inside the carrier. Not limited. Based on this, the solution of this embodiment can provide users with a comprehensive loading method to meet the verification requirements of users.

Among them, for the method of embedding the laser radar inside the carrier, in order to make the user more convenient to operate, in some examples, this embodiment can also transparently display the specified carrier model for the user to embed the laser radar model As for the interior of the specified carrier model, the transparent display here may include the transparency of the carrier shell, so that the user can check the internal structure of the carrier, which is convenient for the user to operate.

Through the above method, after the user specifies the laser radar model and the simulation scene, the scanning result of the specified laser radar model in the specified simulation scene can be displayed on the first user interface, so that the user can intuitively check and verify the specified The scanning results of the lidar in the specified simulation scene.

In some examples, the scanning result includes: a point cloud obtained by scanning the specified lidar model in the specified simulation scene, so that the user can intuitively check the point cloud obtained by scanning the laser radar in the simulation scene.

As shown in Figure 2C, it is a schematic diagram of a scanning result shown in this embodiment. In this Figure 2C, the vehicle model 12 is taken as an example for the carrier model, and a laser radar model is carried on the carrier model (for example in Fig. 2C ). For convenience not shown), the scanning result of the specified lidar model in the specified simulation scene is the point cloud 102 shown in FIG. 2C .

In order for the user to more intuitively verify the scanning results of the lidar, in some examples, the simulated scene can also include a target model. The target in this embodiment can include any object that may exist in the actual scene, and these targets may be detected by the lidar. Scanned, such as people, animals, buildings, trees, or vehicles, etc., the target model refers to the model describing these targets, the solution of this embodiment can simulate various targets, so as to construct the target model. Optionally, as required, the target model can correspond to the real target, that is, correspond to various targets in the real world. Optionally, the target model can also represent the parameters of the real target, such as the size, shape, structure or color etc. Wherein, this embodiment does not limit a specific target model, and various target models can be realized according to needs in practical applications.

Based on this, the designated simulation scene in this embodiment may further include: a designated target model designated by the user. Wherein, the user may specify one or more target models, and in this embodiment, the target model specified by the user is referred to as the specified target model. This embodiment does not limit the specific number of specified target models, there may be one or more than one, and the user can flexibly configure according to needs.

In some examples, the manner of obtaining the designated target model specified by the user may be to provide multiple preset target models for the user to choose in advance, or may be a target model imported by the user. As an example, in some examples, the manner of obtaining the specified target model includes any of the following:

Display multiple preset target models for the user to choose, and obtain the preset target model selected by the user;

Obtain the target model imported by the user through the third import function; or,

A variety of preset simulation scenarios are provided for the user to choose, and the specified target model is obtained according to the preset simulation scenario selected by the user; wherein, each preset simulation scenario includes at least one preset target model.

For the embodiment in which multiple preset target models are displayed for users to choose, as an example, multiple target models can be pre-built, and this embodiment is called a preset target model; optionally, the preset target model can be pre-configured in the customer It can also be configured on the server side, and the client can obtain it from the server side.

Optionally, the construction method of the preset target model can be flexibly implemented according to the needs in practical applications. For example, the target model can be drawn and constructed by technicians in advance using existing model building software.

In some examples, the preset target model may include: a target model constructed according to a real target, that is, the preset lidar model may correspond to a real target, and based on this, the user can use these target models for laser Radar scan verification makes the scan verification results more authentic and reliable. Of course, the preset target model in this embodiment can also use a self-defined target, or not correspond to a real target. Based on this, it can be used by the user to verify the scanning results of the lidar for more targets, thereby satisfying more needs of the user. Verify requirements.

Optionally, the client can display all or part of the preset target models through a user interface, and the user can check these preset target models and select them as required.

Optionally, the client can provide a selection function for the preset target model, and users can use the selection function provided by the client to operate to select the target model they need. The client can obtain the target model through the selection function. The specified target model selected by the user.

In practical applications, the selection function can be implemented in various ways according to needs. In one example, the selection function can specifically be a check control, by which the user can quickly select the desired specified target model.

For the embodiment in which the target model imported by the user is obtained through the third import function, since the third import function is provided for the user to import the target model, the solution of this embodiment can support the target model imported by the user, thereby satisfying more user requirements. Define requirements. Optionally, support for a variety of different target model formats can be implemented as required. For example, this function can be realized in advance according to the existing model format. For example, target models in the following formats can be supported: .FBX format, .OBJ format or .STL format, etc., which is not limited in this embodiment.

For the embodiment that provides a variety of preset simulation scenarios for users to choose from, multiple preset simulation scenarios can be provided for users to choose from. This embodiment can realize multiple preset simulation scenarios in advance, and each preset simulation scenario is preset There is at least one preset target model. Based on this, the user can obtain the specified target model required by the user only by performing the selection operation on the preset simulation scene.

In some examples, according to actual verification requirements, the preset simulation scenarios include any of the following: high-speed cruising scenarios, intersection scenarios, urban road scenarios, parking lot scenarios, or home scenarios. In each simulation scenario, there can be pre-configured The target model that meets the requirements of the scene. As an example, the high-speed cruise scene can be configured with a high-speed road model, street sign model, tree model or vehicle model, etc.; the intersection scene can be configured with road modules, traffic light models, street sign models, pedestrians Model or bicycle model, etc., and other simulation scenarios are also pre-configured with one or more target models according to needs; it can be seen that this embodiment can meet various verification requirements of users by pre-constructing a variety of common scenarios.

In this embodiment, the simulation scene includes a lidar model, a carrier model, and may also include multiple target models. When displaying scanning results, users may have different query requirements. Based on this, this embodiment provides various How the scan results are displayed. As an example, the display of the scan results includes any of the following:

displaying said point cloud and displaying all specified target models;

displaying said point cloud without displaying said specified target model;

Display all specified target models, and the point cloud obtained by scanning part of the specified target models with the specified lidar model;

The point cloud obtained by scanning part of the specified target model by the specified lidar model is displayed, and the specified target model is not displayed.

In some examples, the point cloud and all specified target models can be displayed, so that the user can consult the point cloud obtained by scanning the lidar target. As shown in Figure 2D, it is another schematic diagram showing the scanning results shown in this embodiment. This Figure 2D shows that in the urban road scene, there are many target models in this scene, such as car models, road models, trees Models, building models, etc., the carrier model 12 has a laser radar model, using the scheme of this embodiment, the scanning results of the laser radar model in this scene can be displayed, specifically the point cloud 102 and all objects in the entire scene can be displayed Model.

In some examples, only the point cloud may be displayed without displaying the specified target model, so that the user may only pay attention to the point cloud obtained by scanning the lidar. As shown in FIG. 2E , it is another schematic diagram showing the scanning results shown in this embodiment. Compared with FIG. 2E , it can be seen that the middle finger in FIG. 2E shows the point cloud, but does not show the specified target model.

In some examples, only part of the designated target model can be displayed as needed, and the point cloud obtained by scanning the part of the designated target model by the designated lidar model. Based on this, the user can only pay attention to this part of the displayed designated The target model and the scanned point cloud on this part of the specified target model. For example, the user wishes to check the fact that some key objects in the simulation scene are scanned. Based on this, the present embodiment can meet the user's requirement. As shown in Figure 2F1, it is another schematic diagram showing scanning results shown in this embodiment. Figure 2F1 shows all specified target models, but only shows the point cloud obtained by scanning part of the specified target models; for example, in Figure 2F1, for The designated object model 141 (building model) does not show its scanned point cloud, but the designated object model 142 (vehicle model) shows its scanned point cloud.

In this embodiment, only the scan results of part of the designated target models can be displayed according to the needs; wherein, in some examples, the part of the designated target models refers to preset key target models. Alternatively, the partially specified target models may also be selected by the user. In practical applications, the key object model can be set as required, for example, it can be a pedestrian model, an animal model, a vehicle model, etc., which is not limited in this embodiment. Based on this, when displaying the scanning results, only the scanning results of some target models can be displayed, and other non-critical target models can not be displayed, so that the displayed content meets the needs of users. For example, FIG. 2F2 is another schematic diagram showing scanning results shown in this embodiment. FIG. 2F2 shows point clouds of three key designated target models.

In other examples, it is also possible to display only the point cloud obtained by scanning part of the specified target model with the specified lidar model as required, without showing the specified target model; as shown in FIG. 2G, it is another example shown in this embodiment. A schematic diagram showing the scan results, and a point cloud of a part of the specified target model is shown in Figure 2G.

It can be seen that, in the foregoing embodiments, various ways of displaying the scanning results are provided, so that the scanning results can be verified more efficiently, and different needs of users can be met.

In this embodiment, the scan result includes the point cloud scanned by the specified lidar model in the specified simulation scene, that is, the displayed scan result simulates the point cloud scanned by the laser radar in the scene. In practical applications , can be displayed after simulating the point cloud according to the needs, and the simulated point cloud can be realized in many ways, such as using the simulation method, based on the principle of point cloud obtained by real lidar scanning, for simulation, and the real lidar scanning The principle of the point cloud is that the laser emitted by the lidar hits the object and the laser is reflected, and the reflected laser can be received by the lidar, and the lidar can be based on the information of the emitted laser and the information of the received reflected laser , to determine the information of the position where the object was hit. Based on this, the point cloud can be simulated according to the internal and external parameters of the lidar represented by the specified lidar model, as well as the simulated scene.

In some examples, the working process of the laser radar can be simulated to obtain the point cloud. Optionally, this embodiment can use the ray detection method to simulate the laser emitted or received by the laser radar. The point cloud can be obtained in the following manner : Simulate the laser emitted by the lidar based on the ray detection method, and determine the point cloud point according to the position hit by the laser in the specified simulation scene.

In the ray detection method, the starting point can be specified, and the ray engine will emit rays based on the starting point. The ray will collide with the object the ray passes through. The ray engine can output information such as the position and normal line that the ray hits. As shown in FIG. 2H, it is a schematic diagram of obtaining a point cloud according to an exemplary embodiment of the present application. In FIG. 2H, a lidar model 10 and a scanned target model 143 are shown. In this embodiment, the lidar The emitted laser has parameters, such as direction angle, etc.; all scannable targets in the scene have information, such as position, etc.; the information of the laser emitted by the lidar (such as direction angle, etc.) can be converted into physical simulation ray detection, That is to use the laser information emitted by the lidar and the information of all objects in the scene to call the ray detection method, so that the ray detection method can output the information of the target hit by the ray in the scene, such as the position hit, etc., further The depth information of the target hit by the ray, the information of the target hit by the ray, the information of the hit position, etc. can be obtained. The position hit by the laser is the point cloud point, so it can be obtained The point cloud point and the information of the point cloud point can be displayed on the user interface later.

In this embodiment, the user can specify multiple lidar models. If there are multiple specified lidar models, point clouds can be collected for each specified lidar model. In order to improve the processing speed, optionally, a thread can be configured for each specified lidar model, and each thread processes the point cloud scanned by its corresponding specified lidar model, and then the point cloud processed by each thread can be fused , and synchronously process the point clouds obtained by thread processing. The position of the obtained point cloud point is the position where the laser hits the target, which can be displayed on the user interface in combination with the configuration information of the point cloud point (such as point size, shape or color, etc.).

In some examples, there are multiple specified lidar models; when displaying the scan results, different first visual display methods can be used to distinguish the scan results of different specified lidar models, so that users can more intuitively refer to different specified lidar models. The scan results of the lidar model. Optionally, the different first visual presentation manners can be flexibly configured as required, for example, may include: different colors; optionally, different shapes or sizes and other manners may also be used to distinguish the presentations as required.

In some examples, the designated target model has multiple different types; when displaying the scanning results, different second visual display methods can be used to distinguish point clouds on different types of designated target models, so that users can more intuitively refer to to the scanned results on different specified target models. Optionally, the different second visual presentation manners may include, for example: different colors; optionally, other manners such as different shapes or sizes may also be used to distinguish the presentations as required.

In some examples, the different types of specified target models can be implemented in multiple ways, for example, different types of specified target models can be determined based on the distance between the specified target model and the carrier model, that is Point clouds on different objects can be displayed based on different distances. In other examples, it may be determined based on the attributes of the specified target model. As an example, the different types of specified target models may be determined by reading the attributes of the specified target model. The attributes here may be names or categories, etc. . For example, it may be that certain categories of designated target models adopt the same visual display method, such as people, animals or vehicles belonging to key categories, as the same category, adopt the same visual display method; such as buildings, etc. belonging to the background category, as the same class; whereas key and background classes have different visual representations.

In practical applications, considering that the user may have more needs, such as the need to consult the statistical information of the point cloud, based on this, in some examples, the method may further include: according to the specified target model selected by the user, at the Second, the user interface displays the statistical information of the point cloud on the specified target model selected by the user. In this embodiment, the user can select a specified target model, and the solution of this embodiment can display the statistical information of the point cloud on the specified target model selected by the user in the second user interface, so that the user can refer to the specified target model selected by the user. The statistics of the point cloud on the specified target model of .

Wherein, the statistical information can be flexibly configured according to needs. As an example, it can include: the number of point cloud points of the specified target model selected by the user scanned by the specified lidar model within a specified time period. Wherein, the specified time period can also be configured by the user.

As shown in Figure 2I, it is a schematic diagram showing statistical information shown in this embodiment. In this schematic diagram, the user interface includes a statistical information display window 16, and in the statistical information display window 16, the specified target model in the left side is displayed. Statistics.

In practical applications, considering that the user may have a need for distance measurement, based on this, in some examples, the method further includes: providing a distance measurement function, and obtaining the user-specified start position and end position through the distance measurement function , display the distance between the start and end locations. Based on this, the user can check the required distance information through simple operations.

For example, if the user wants to check the size of the blind area of the lidar, the user can specify the starting position and the end position of the blind area of the lidar according to the scanning result of the lidar model shown in the user interface, and the scheme of this embodiment can display the The distance between the starting position and the ending position is provided so that the user can check the size of the blind area. In other examples, it is not limited to the distance measurement of the blind area. The scheme of this embodiment can allow the user to specify the start position and the end position arbitrarily, and the user can consult any required distance information as needed.

This embodiment does not limit the start position and the end position, the user can specify the start position and the end position arbitrarily, and by showing the distance between the start position and the end position, the solution of this embodiment can provide the user with Ranging function.

In some examples, the method may further include: exporting the content displayed in the user interface as data in a specified format. This embodiment also provides a data export function, and the user can export the content displayed in the user interface as needed, wherein, the content displayed in the user interface here can include any content displayed in any user interface in the client, and can include user The process of operation, the process of specifying the lidar model, the process of specifying the simulation scene, and the process of displaying the scanning results on the first user interface, etc.

In some examples, the data in the specified format includes any of the following: image, video, or point cloud data; through data in these formats, users can share and store data, and users can also quickly and conveniently view scan results.

In some examples, the data records include any of the following: carrier information, internal references of lidar, or external references of lidar. In this embodiment, the exported data can be recorded with carrier information, lidar internal parameters or lidar external parameters, so that users can easily check the verified lidar information this time. Optionally, the above information can be recorded as an independent piece of data when exporting, for example, in a separate file (such as txt format or document, etc.), or it can be recorded in the name of the exported data, so that users can easily accessible.

In some examples, the point cloud data includes: any of the following information of each point cloud point: time stamp, azimuth, depth, reflectivity, the identification of the target where the point cloud point is located, and the location of the target where the point cloud point is located. Status information or the status information of the carrier when the point cloud point is collected. In this embodiment, in order for the user to verify the scanning result, the exported point cloud data may include any of the above-mentioned information, and each information is related to the point cloud point, so that the user can verify the scanning result of the lidar more efficiently.

It can be seen from the above-mentioned embodiments that the verification scheme of the scanning results of the lidar in this embodiment provides a scheme for three-dimensional interaction and viewing of the configuration of the lidar, which can intuitively present the scanning effect of the radar and the scanning coverage area, and provide free The method of setting the lidar external parameters in real time in the three-dimensional space can display multiple lidar combinations in real time, and can display the scanning results and coverage of lidars with different configurations in real time.

The scheme of this embodiment also provides a variety of common simulation scenarios, so that users can conveniently test the scanning effects of different configurations of laser radars. Considering the diversity of detection scenarios, it also provides custom scene editing and external model or scene editing. Imported to meet the detection and verification with a high degree of freedom.

In order to more intuitively test or compare the configuration effects of the lidar, and to facilitate the acquisition of the true value of the basic data, this embodiment also provides functions such as real-time measurement tools and real-time point cloud information viewing.

The solution of this embodiment can more quickly and intuitively verify and test the scanning effects of single or multiple radar configurations. At the same time, it can quickly edit and save the configuration parameters after setting, and can be used in the actual configuration scheme. It can also support fast and high-degree-of-freedom scene editing to test the performance of different radar configurations in different environments, and provide real-time data viewing references, thus greatly improving the speed of detection configuration verification based on specific scenarios and the comparison and verification of different configurations speed.

The foregoing method embodiments may be implemented by software, or by hardware or a combination of software and hardware. Taking software implementation as an example, as a device in a logical sense, it is formed by reading the corresponding computer program instructions in the non-volatile memory into the memory for operation through the verification of the scanning results of the laser radar where it is located. From the perspective of hardware, as shown in FIG. 3 , it is a hardware structure diagram of a verification device 300 for implementing the scanning results of the laser radar in this embodiment. In addition to the processor 301 and the memory 302 shown in FIG. 3 , the implementation In the example, the computer equipment used to implement the method for verifying the scanning result of the laser radar, usually according to the actual function of the computer equipment, may also include other hardware, which will not be repeated here.

In this embodiment, the processor 301 implements the following steps when executing the computer program:

Obtain the specified lidar model specified by the user;

Obtain the specified simulation scene where the specified lidar model specified by the user is located; the specified simulation scene includes at least: a specified carrier model carrying the specified laser radar model, and a specified loading method of the specified laser radar;

In some examples, the processor acquires a specified lidar model specified by the user, specifically including:

Display multiple preset lidar models for the user to select, and obtain the preset lidar model selected by the user; and/or,

Obtain the lidar model imported by the user through the first import function.

In some examples, the processor acquires the lidar model imported by the user, specifically including:

Obtain the laser radar model file imported by the user, and generate the laser radar model according to the internal reference of the laser radar recorded in the laser radar model file.

In some examples, the preset lidar model includes: a lidar model constructed according to a real lidar.

In some examples, different preset lidar models represent lidars with different internal parameters.

In some examples, the processor displays a plurality of preset lidar models, including:

Display any of the following information of the real lidar corresponding to the preset lidar model: brand name, model name, or internal reference.

In some examples, the internal reference includes any of the following: the scanning frequency of the lidar, the direction angle of the laser emitted by the lidar, or the field of view angle of the lidar.

In some examples, the method of obtaining the carrier model includes:

Display multiple preset carrier models for the user to choose, and obtain the preset carrier model selected by the user; and/or,

The carrier model imported by the user is obtained through the second import function.

In some examples, the preset carrier model includes: a carrier model constructed according to a real carrier.

In some examples, the processor displays a plurality of preset carrier models, including:

Display any of the following information of the real carrier corresponding to the preset carrier model: brand name, model name or parameters.

In some examples, the carrier model includes: a movable platform model and/or a fixed carrier model.

In some examples, the movable platform model includes any of the following: a vehicle model, a drone model, or a robot model.

In some examples, the processor also provides a loading configuration function for the user to configure the specified loading mode.

In some examples, the carrying configuration function includes any of the following functions: drag and drop function, rotation function, coordinate configuration function, pitch angle configuration function, yaw angle configuration function or roll angle configuration function.

In some examples, the loading manner includes any of the following: loading position, loading angle, loading height or orientation.

In some examples, the specified carrying method further includes: a carrying method in which the specified lidar model is embedded in the specified carrier model.

In some examples, the processor is further configured to: transparently display the designated carrier model for users to embed the lidar model into the designated carrier model.

In some examples, the scanning result includes: a point cloud obtained by scanning the specified lidar model in the specified simulation scene.

In some examples, the specified simulation scenario further includes: a specified target model specified by the user.

In some examples, the processor presents the scan results including any of the following:

displaying said point cloud without displaying said specified target model;

display said point cloud and display all specified target models; or,

A part of the designated target model is displayed, and a point cloud obtained by scanning the part of the designated target model by the designated lidar model is displayed.

In some examples, the partially specified target model refers to a preset key target model.

In some examples, the method of obtaining the specified target model includes any of the following:

In some examples, the preset simulation scene includes any of the following: a high-speed cruising scene, an intersection scene, an urban road scene, a parking lot scene or a home scene.

In some examples, the point cloud is obtained by:

The laser emitted by the laser radar is simulated based on the ray detection method, and the point cloud point is determined according to the position hit by the laser in the specified simulation scene.

In some examples, there are multiple specified lidar models;

When the processor presents the scanning results, it uses different first visual display methods to distinguish the scanning results of different specified lidar models.

In some examples, the different first visual display manners include: different colors.

In some examples, the specified target model is of a plurality of different types;

The processor uses different second visual display methods to distinguish different types of point clouds on the specified target model when displaying the scanning results.

In some examples, the different second visual representations include: different colors.

In some examples, the different types of designated object models are determined based on the distance between the designated object model and the carrier model; and/or are determined based on the attributes of the designated object model.

In some examples, the processor is further configured to perform the following steps:

According to the designated target model selected by the user, the statistical information of the point cloud on the designated target model selected by the user is displayed in the second user interface.

In some examples, the statistical information includes: the number of point cloud points of the specified target model selected by the user scanned by the specified lidar model within a specified time period.

In some examples, the specified period of time is user-configurable.

Provide a distance measurement function, and display the distance between the start location and the end location after the start location and end location specified by the user are obtained through the distance measurement function.

Export the content displayed in the user interface as data in the specified format.

In some examples, the data records include: carrier information and/or external parameters of the lidar.

In some examples, the data in the specified format includes any of the following: image, video or point cloud data.

In some examples, the point cloud data includes: any of the following information of each point cloud point: time stamp, azimuth, depth, reflectivity, the identification of the target where the point cloud point is located, and the location of the target where the point cloud point is located. Status information or the status information of the carrier when the point cloud point is collected.

As shown in FIG. 4 , the embodiment of the application also provides a computer device 400 , which includes a verification device 300 that signs the scanning result of the laser radar described in the embodiment.

The embodiment of this specification also provides a computer-readable storage medium, on which several computer instructions are stored, and when the computer instructions are executed, it implements the method for verifying the scanning result of the lidar described in any embodiment. step.

Embodiments of the present description may take the form of a computer program product embodied on one or more storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) having program code embodied therein. Computer usable storage media includes both volatile and non-permanent, removable and non-removable media, and may be implemented by any method or technology for information storage. Information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for computers include, but are not limited to: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Flash memory or other memory technology, Compact Disc Read-Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, Magnetic tape cartridge, tape magnetic disk storage or other magnetic storage device or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

As for the device embodiment, since it basically corresponds to the method embodiment, for related parts, please refer to the part description of the method embodiment. The device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. It can be understood and implemented by those skilled in the art without creative effort.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is a relationship between these entities or operations. There is no such actual relationship or order between them. The term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements but also other elements not expressly listed elements, or also elements inherent in such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

The methods and devices provided by the embodiments of the present invention have been described in detail above. The principles and implementation methods of the present invention have been explained by using specific examples in this paper. The descriptions of the above embodiments are only used to help understand the methods and methods of the present invention. core idea; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation and scope of application. In summary, the content of this specification should not be construed as limiting the present invention .

Claims

A verification method of the scanning result of laser radar, it is characterized in that, described method comprises:

Obtain the specified lidar model specified by the user;

Acquiring the designated simulation scene where the designated lidar model is located specified by the user; the designated simulation scene at least includes: a designated carrier model carrying the designated lidar model, and a designated loading method of the designated lidar;

A scanning result of the specified lidar model in the specified simulation scene is displayed on the first user interface.
The method according to claim 1, wherein said acquiring the specified lidar model specified by the user comprises:

Display multiple preset lidar models for the user to select, and obtain the preset lidar model selected by the user; and/or,

Obtain the lidar model imported by the user through the first import function.
The method according to claim 2, wherein said obtaining the lidar model imported by the user comprises:

Obtain the laser radar model file imported by the user, and generate the laser radar model according to the internal reference of the laser radar recorded in the laser radar model file.
The method according to claim 2, wherein the preset lidar model comprises: a lidar model constructed according to a real lidar.
The method according to claim 2, wherein different preset lidar models represent lidars with different internal parameters.
The method according to claim 2, wherein the displaying a plurality of preset lidar models comprises:

Display any of the following information of the real lidar corresponding to the preset lidar model: brand name, model name, or internal reference.
The method according to any one of claims 3 to 6, wherein the internal reference includes any of the following: the scanning frequency of the laser radar, the direction angle of the laser light emitted by the laser radar, or the field of view angle of the laser radar.
The method according to claim 1, wherein the method of obtaining the carrier model comprises:

Display multiple preset carrier models for the user to choose, and obtain the preset carrier model selected by the user; and/or,

The carrier model imported by the user is obtained through the second import function.
The method according to claim 8, wherein the preset carrier model comprises: a carrier model constructed according to a real carrier.
The method according to claim 8, wherein the displaying a plurality of preset carrier models comprises:

Display any of the following information of the real carrier corresponding to the preset carrier model: brand name, model name or parameters.
The method according to claim 1, wherein the carrier model comprises: a movable platform model and/or a fixed carrier model.
The method according to claim 11, wherein the movable platform model includes any of the following: a vehicle model, an unmanned aerial vehicle model or a robot model.
The method according to claim 1, characterized in that a loading configuration function is provided for the user to configure the specified loading mode.
The method according to claim 13, wherein the configuration function includes any of the following functions: drag and drop function, rotation function, coordinate configuration function, pitch angle configuration function, yaw angle configuration function or roll angle configuration function Function.
The method according to claim 1, wherein the loading method includes any of the following: loading position, loading angle, loading height or orientation.
The method according to claim 1, wherein the specified loading method further comprises: a loading method in which the specified lidar model is embedded into the specified carrier model.
The method according to claim 16, characterized in that the designated carrier model is transparently displayed for users to embed the lidar model into the designated carrier model.
The method according to claim 1, wherein the scanning result comprises: a point cloud obtained by scanning the specified lidar model in the specified simulation scene.
The method according to claim 1 or 18, wherein the specified simulation scene further includes: a specified target model specified by a user.
The method according to claim 19, wherein the displaying the scanning result comprises any of the following:

displaying said point cloud and displaying all specified target models;

displaying said point cloud without displaying said specified target model;

Display all specified target models, and the point cloud obtained by scanning part of the specified target models with the specified lidar model; or,

Display the point cloud obtained by scanning part of the specified target model with the specified lidar model, but not show the specified target model.
The method according to claim 20, characterized in that the partially specified target models refer to preset key target models.
The method according to claim 19, wherein the acquisition method of the specified target model includes any of the following:

Display multiple preset target models for the user to choose, and obtain the preset target model selected by the user;

Obtain the target model imported by the user through the third import function; or,

A variety of preset simulation scenarios are provided for the user to choose, and the specified target model is obtained according to the preset simulation scenario selected by the user; wherein, each preset simulation scenario includes at least one preset target model.
The method according to claim 22, wherein the preset simulation scene includes any of the following: a high-speed cruise scene, an intersection scene, an urban road scene, a parking lot scene or a home scene.
The method according to claim 18, wherein the point cloud is obtained in the following manner:

The laser emitted by the laser radar is simulated based on the ray detection method, and the point cloud point is determined according to the position hit by the laser in the specified simulation scene.
The method according to claim 1, wherein there are multiple specified lidar models;

When displaying the scanning results, different first visual display methods are used to distinguish the scanning results of different specified lidar models.
The method according to claim 25, wherein the different first visual display manners include: different colors.
The method according to claim 19, wherein the specified target model has multiple different types;

When displaying the scanning results, different second visual display methods are used to distinguish point clouds on different types of specified target models.
The method according to claim 27, wherein the different second visual display manners include: different colors.
The method according to claim 27, wherein the different types of specified target models are determined based on the distance between the specified target model and the carrier model; and/or are determined based on the specified target model properties are determined.
The method according to claim 19, further comprising:

According to the designated target model selected by the user, the statistical information of the point cloud on the designated target model selected by the user is displayed in the second user interface.
The method according to claim 30, wherein the statistical information includes: the number of point cloud points of the designated target model selected by the user within a designated time period scanned by the designated lidar model.
The method of claim 31, wherein the specified time period is configured by a user.
The method according to claim 1, further comprising:

Provide a distance measurement function, and display the distance between the start location and the end location after the start location and end location specified by the user are obtained through the distance measurement function.
The method according to claim 1, further comprising:

Export the content displayed in the user interface as data in the specified format.
The method according to claim 34, wherein the data records include: carrier information and/or external parameters of the laser radar.
The method according to claim 34, wherein the data in the specified format includes any of the following: image, video or point cloud data.
The method according to claim 36, wherein the point cloud data includes: any of the following information of each point cloud point: time stamp, azimuth, depth, reflectivity, identification of the target where the point cloud point is located , the state information of the object where the point cloud point is located or the state information of the carrier when the point cloud point is collected.
A device for verifying the scanning result of a laser radar, characterized in that the device includes a processor, a memory, and a computer program stored on the memory that can be executed by the processor, and the processor executes the computer program When realizing the steps of the method described in any one of claims 1 to 37.
A computer device, characterized in that the computer device includes the device for verifying the scanning result of the lidar according to claim 38.
A computer-readable storage medium, characterized in that several computer instructions are stored on the computer-readable storage medium, and the steps of the method described in any one of claims 1 to 37 are implemented when the computer instructions are executed.