Scanning imaging method for three-dimensional environment in vehicle-mounted two-dimensional laser movement

A two-dimensional laser, scanning imaging technology, applied in image analysis, image data processing, 3D image processing and other directions, can solve the problems of complex structure, azimuth map model can not meet the needs of practical applications and so on
CN104268933AActive Publication Date: 2015-01-07DALIAN UNIV OF TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
DALIAN UNIV OF TECH
Publication Date
2015-01-07

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Abstract

The invention discloses a scanning imaging method for the three-dimensional environment in vehicle-mounted two-dimensional laser movement, belongs to the technical field of ranging laser scanning imaging and autonomous environment awareness of unmanned vehicles, and provides a calculation model of a texture enhancement graph. The calculation model can achieve three-dimensional environment scanning imaging based on vehicle-mounted two-dimensional laser ranging data, effectively overcomes image blurring caused by irregular movement of a vehicle body, can obtain a clear two-dimensional image description of three-dimensional point cloud data, and supplements three-dimensional space ranging information. According to the texture enhancement graph, the distinction degree of the gray level of pixels of a generated image is the maximum by calculating out an optimal reference vector, texture details of objects in a scene are highlighted, and therefore scene division, object recognition and scene understanding based on laser scanning data are effectively supported. The scanning imaging method can be applied to the artificial intelligence field of outdoor scene understanding, environment cognition and the like of unmanned vehicles.
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Description

technical field

[0001] The invention belongs to the technical field of ranging laser scanning imaging and autonomous environment perception of unmanned vehicles, and relates to a method for scanning and imaging a three-dimensional environment during vehicle-mounted two-dimensional laser motion. The invention uses the unmanned vehicle as the motion carrier, the two-dimensional laser ranging sensor and the inertial navigation system as the measurement device, and the vehicle-mounted computer as the data collection and processing platform to scan and image the three-dimensional environment. Background technique

[0002] Visual sensors can provide rich environmental perception information, so computer vision has become a research focus and hotspot in many related fields, and has also made great progress in the fields of artificial intelligence and pattern recognition. Usually, visual images are collected by CCD or CMOS cameras, but they are easily affected by the environment dur...

Claims

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