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Accurate fitting method of line segment features in 2D laser radar distance image

A range image and lidar technology, applied in the field of sensing and detection, can solve the problems of low accuracy, poor adaptability and high computational complexity, and achieve the effect of fast and accurate extraction and guaranteed accuracy.

Active Publication Date: 2015-12-09
重庆科知源科技有限公司
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  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

However, the amount of calculation is very large, and it is not suitable for autonomous navigation that requires high real-time performance, and the selection of the threshold is also difficult.
[0005] Due to the problems of poor adaptability, high computational complexity, low precision, and difficulty in adapting to complex scenarios, the above algorithms

Method used

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  • Accurate fitting method of line segment features in 2D laser radar distance image
  • Accurate fitting method of line segment features in 2D laser radar distance image
  • Accurate fitting method of line segment features in 2D laser radar distance image

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Experimental program
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Embodiment 1

[0049] Such as figure 1 As shown, the method for accurately fitting line segment features in the 2D lidar range image provided by the present invention comprises the following steps:

[0050] S1: Obtain the lidar range image data for data preprocessing;

[0051] S2: Convert the distance image data after data preprocessing into polar coordinate model data; the polar coordinate model data is composed of angle values ​​and distance values; the angle value is θ i The angle formed by the corresponding intersection point and the X axis; the distance value is p i corresponds to the distance from the origin to the straight line;

[0052] S3: Use adaptive threshold region segmentation to form region data for polar coordinate model data;

[0053] The specific steps of adaptive threshold region segmentation in the S3 are as follows:

[0054] S31: Select current data from polar coordinate model data;

[0055]S32: judge whether the distance data in the current data is greater than zer...

Embodiment 2

[0083] Such as figure 2 as shown, figure 2 The region segmentation flowchart provided by the embodiment of the present invention; the region segmentation method provided by the present invention, the specific steps are as follows:

[0084] The acquired lidar data (p 1 ,p 2 …p i ) after the filtering process, the lidar data is segmented, that is, the range image is divided into regions using an adaptive threshold, which mainly includes the following three parts:

[0085] 1) According to the scanning range and angular resolution of the lidar, the distance data (p 1 ,p 2 …p i ) into polar coordinates (θ 1 ,p 1 ),(θ 2 ,p 2 )…(θ i ,p i ); within a scanning cycle, the environmental information acquired from 2D lidar is a set of distance data (p 1 ,p 2 …p i ), the distance data obtained beyond the lidar range is 0; according to the scanning range and angular resolution of the radar, the distance data can be converted into polar coordinates (θ i ,p i ) form, thus fo...

Embodiment 3

[0091] Such as image 3 as shown, image 3 The flow chart of line segment segmentation provided by the embodiment of the present invention; the specific steps of the line segment segmentation method provided by the present invention are as follows:

[0092] Carry out line segment segmentation for each area data D, and divide the area D into (L 1 , L 2 …L n ), mainly including the following three parts:

[0093] 1) Coordinate transformation: for the area set D i Polar coordinates (θ 1 ,p 1 ),(θ 2 ,p 2 )…(θ i ,p i ) into Cartesian coordinates (x 1 ,y 1 ),(x 2 ,y 2 )...(x i ,y i ), where X i =p i *Cosθ i , Y i =p i *Sinθ i .

[0094] 2) The selection of the threshold is adaptive. If the current i=k, the value of theta is the sum of the distances between the current point and the preceding and following points.

[0095] For the set of regions (D 1 ,D 2 …D i ) in each region D i To divide again, let D i The data in the collection is (x 1 ,y 1 ),(x 2 ...

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Abstract

The invention discloses an accurate fitting method of line segment features in a 2D laser radar distance image. The method comprises acquiring the laser radar distance image data to perform data pre processing; converting the laser radar distance image data into the polar coordinate model data; performing adaptive threshold area segmentation of the polar coordinate model data to form the area data; performing line segmentation; and at last merging the line segment data and outputting the merged line segment data, and taking the output merged line segment data as the extracted line segment data of the laser radar distance image. Based on the traditional Split-and-Merge algorithm, the accurate fitting method of line segment features in a 2D laser radar distance image utilizes two-stage segmentation at first, and then can obtain the line segment information in the laser radar distance image through merging and fitting, and utilizes the adaptive dynamic method to select segmented threshold values and optimizes the threshold values on the merging criterion so that the defect that a traditional method needs to adjust the parameters under different scenes is overcome; the line segment features in the laser radar data image can be extracted quickly and accurately; and the accurate fitting method of line segment features is suitable for different indoor scenes and can guarantee the accuracy of fitting.

Description

technical field [0001] The invention relates to the field of sensing detection, in particular to a method for accurately fitting line segment features in 2D laser radar range images, which is suitable for accurate fitting of line segment features in 2D laser radar range images in indoor structured scenes. Background technique [0002] 2D lidar has become the first choice for mobile robots to navigate autonomously in unknown environments due to its high precision, wide detection range, strong anti-interference, and moderate price. Lidar uses laser as the signal source, and the pulsed laser emitted by the laser at a certain angle is reflected back to the receiver after encountering the measured object, so as to measure the distance of the measured object according to the time interval between sending and receiving (TOF), among which 2D laser Radar detects distance information in a certain range from a plane. [0003] In indoor structured scenes, the distance image of the exte...

Claims

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Application Information

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IPC IPC(8): G01S7/48
CPCG01S7/48
Inventor 赵敏孙棣华熊星
Owner 重庆科知源科技有限公司
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