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Method and device for point cloud measurement data quality evaluation optimization

A technology for measuring data and quality assessment, applied in the direction of electrical digital data processing, special data processing applications, instruments, etc., can solve problems such as increasing costs and increasing the threshold for unmanned vehicles to enter the market

Active Publication Date: 2016-06-15
FUZHOU HUAYING HEAVY IND MACHINERY
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Problems solved by technology

[0007] However, 64 independent lasers and a high-speed mechanical structure also greatly increase the cost. The reference price of the HDL-64E lidar is as high as $75,000, far exceeding the price of an ordinary car, which increases the threshold for unmanned vehicles to enter the market

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  • Method and device for point cloud measurement data quality evaluation optimization
  • Method and device for point cloud measurement data quality evaluation optimization
  • Method and device for point cloud measurement data quality evaluation optimization

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Embodiment Construction

[0062] In order to explain in detail the technical content, structural features, achieved goals and effects of the technical solution, the following will be described in detail in conjunction with specific embodiments and accompanying drawings.

[0063] I. Overview

[0064] This article describes:

[0065]1. Design and structure of a low-cost and high-performance 3D lidar.

[0066] 2. The mathematical model of the radar for measurement / data acquisition, and the debugging process of the parameters included in the model.

[0067] 3. Algorithm for estimation of skew for different clocks on several different components.

[0068] 4. A method of automatically searching for optimal model parameters by maximizing the entropy value of the probability distribution of each data point to achieve the purpose of automatic calibration. This method can also be used for any LiDAR output point cloud quality good or bad.

[0069] Three-dimensional laser ranging sensors usually realize three-...

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Abstract

The invention relates to a method and device for point cloud measurement data quality evaluation optimization. The method comprises the following steps that point cloud measurement data is obtained, wherein the point cloud measurement data comprises external calibration parameters of measurement tools and time deviation parameters; a Gauss hybrid model for probability distribution of source positions of the point cloud measurement data is established, a value function is established according to entropy of the Gauss hybrid model, and the quality of the point cloud measurement data is evaluated with the value function; evaluation scores of the value function are optimized, and optimal time deviation parameters are obtained; the external calibration parameters are optimized according to the optimal time deviation parameters, and optimal external calibration parameters are obtained. The problem that in the prior art, the quality of certain measurement tools, especially point cloud measurement data is not good enough is solved.

Description

technical field [0001] The invention relates to the field of laser radar design, in particular to a method and device for evaluating and optimizing the quality of point cloud measurement data. Background technique [0002] In the field of unmanned vehicles, 3D lidar (or 3D laser ranging sensor) is becoming more and more important in the precise and high-density scanning of the environment by unmanned vehicles. Compared with two-dimensional lidar, the three-dimensional point cloud output by three-dimensional lidar can effectively improve the efficiency of various algorithms, such as: [0003] 1. Algorithms for mapping detailed environmental maps; [0004] 2. Algorithms for sensing, classifying, and tracking static / dynamic objects in the scene; [0005] 3. Algorithms for recovering the trajectory of the vehicle / locating the vehicle. [0006] The cost of common high-performance 3D laser ranging sensors is very high, such as the HDL-64E HDL-64E (hereinafter referred to as HDL...

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Application Information

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IPC IPC(8): G06F19/00
CPCG16Z99/00
Inventor 潘晨劲赵江宜
Owner FUZHOU HUAYING HEAVY IND MACHINERY
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