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A LiDAR obstacle recognition method and system considering laser emission intensity
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A technology of obstacle recognition and laser radar, applied in the field of local navigation, can solve the problem of fusing position and reflection intensity information, etc.
Active Publication Date: 2018-08-10
重庆大学溧阳智慧城市研究院
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Moreover, at present, some clustering algorithms with high real-time performance and low computational load are mostly planar clustering algorithms, which cannot well integrate position and reflection intensity information.
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Embodiment 1
[0116] As shown in the figure, the lidar obstacle recognition method considering the laser emission intensity provided by this embodiment includes the following steps:
[0117] Step 1: Acquire environmental data and store it in the computer in the form of an array, the environmental data includes distance information and reflection intensity information;
[0118] Step 2: Preprocessing the acquired environmental data, the preprocessing includes removing data points outside the effective range, filtering out isolated noise points and defect compensation of the lidar measurement mechanism;
[0119] Step 3: Perform the non-planar ABD algorithm on the distance information and the reflection intensity information of the lidar at the same time to perform the environmental data segmentation and clustering processing of the non-planar ABD algorithm, and obtain n cluster sets, and the cluster sets are expressed by the following formula:
[0120] Ω={Ω 1 ,Ω 2 ,...,Ω j ,...,Ω n},
[0...
Embodiment 2
[0207] To identify obstacles, the data in the point set must first be clustered and analyzed. Considering the limitations of the traditional laser radar obstacle recognition method, this embodiment will use the environmental reflection intensity information output by the laser radar to raise the commonly used environmental distance information to a non-planar three-dimensional space, and propose a method based on non-planar data segmentation Obstacle recognition method, so as to ensure the real-time and accuracy of obstacle recognition.
[0208] Since the robot often does not need to identify the specific type of obstacle when avoiding obstacles in a scene with high real-time requirements, it only needs to roughly describe the shape of the obstacle. Only the outer contour of the obstacle can be detected, therefore, the present invention divides the obstacle type into convex and concave. For convex obstacles, they can be divided into peak-shaped and arc-shaped.
[0209] The l...
Embodiment 3
[0240] This embodiment will introduce the specific content of each step in detail.
[0241] Step 1: Connect the two-dimensional scanning laser radar sensor, obtain the environmental data and store it in the computer in the form of an array. The environmental data includes distance information, which is recorded in the following form:
[0242] D = {d 1 , d 2 , d 3 ,...,d i ,...,d N};
[0243] Reflection intensity information S={s 1 ,s 2 ,s 3 ,...,s i ,...,s N}, the commonly used value of N is 1024 lines.
[0244] Step 2: Preprocessing the acquired environmental data.
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Abstract
The invention discloses a laserradar barrier identification method taking laseremission intensity into consideration. First of all, environment data is obtained and stored in a computer in the form of an array, the obtained environment data is preprocessed, n cluster sets are obtained by simultaneously performing environment data segmentation clustering processing of non-planar ABD algorithm on distance information and reflection intensity information of a laserradar, and barrier set information is obtained by matching data sets of different clusters with barrier types, wherein the barrier set information comprises peak-shaped barriers, convex arc-shaped barriers and concave barriers. According to the laser radar barrier identification method taking the laser emission intensity into consideration, provided by the invention, by use of the environment reflection intensity information output by the laser radar, common environment distance information is upgraded to a three-dimensional space, and a barrier identification method based on non-planar data segmentation is brought forward, so that the real-time performance and the accuracy of barrier identification are guaranteed.
Description
technical field [0001] The invention relates to the field of local navigation of robots and intelligent vehicles, in particular to a laser radar obstacle recognition method considering laser emission intensity. Background technique [0002] Obstacle detection is an essential part of the autonomous navigation system of mobile robots, and robust obstacle detection is the basis for effective and safe navigation. Modern mobile robots often rely on the collocation of multiple sensors, select the appropriate multi-sensor information processingalgorithm to perceive the scene, and then make corresponding decisions. For the robot's environment recognition, from the perspective of sensors, there are mainly three types: obstacle detection using stereo vision, obstacle detection using lidar, and obstacle detection using multi-sensor fusion. [0003] Stereo vision is similar to the principle that people use binocular imaging to estimate the distance of the scene. In computer vision, tw...
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