A three-dimensional environment scanning imaging method in vehicle-mounted two-dimensional laser movement

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.

Description

technical field [0001] The invention belongs to the technical field of ranging laser scanning imaging and self-driving vehicle autonomous environment perception, and relates to a method for scanning and imaging a three-dimensional environment during vehicle-mounted two-dimensional laser movement. The invention uses an unmanned vehicle as a moving carrier, a two-dimensional laser ranging sensor and an inertial navigation system as a measuring device, and an on-board computer as a data collection and processing platform to scan and image a 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 during the imaging proc...

AI Technical Summary

Problems solved by technology

However, for unstructured large-scale outdoor scenes, the objects in the scene are more diverse and the structure is more complex, and for outdoor mobile robots represented by unmanned vehicles, it is usually required to realize the awareness of the environment during operation. Knowledge and scene understanding, that is, to meet the requirements of dynamic scanning imaging in vehicle-mounted two-dimensional laser motion

Considering the above factors, the traditional depth map, reflection value map and azimuth map models cannot meet the needs of practical applications

Images