Negative obstacle detection method based on local structure feature of laser radar point cloud

A technology of obstacle detection and laser radar, applied in the field of robot obstacle avoidance detection, can solve the problem of poor detection effect of negative obstacles

Active Publication Date: 2017-05-10
ZHEJIANG UNIV
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Problems solved by technology

The disadvantage of this method is that it requires a large number of sample training in advance, and the detection effect on untrained negative obstacle types is poor

Method used

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  • Negative obstacle detection method based on local structure feature of laser radar point cloud
  • Negative obstacle detection method based on local structure feature of laser radar point cloud
  • Negative obstacle detection method based on local structure feature of laser radar point cloud

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Embodiment Construction

[0120] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0121] Such as figure 1 Shown, the embodiment of the inventive method and implementation process thereof are as follows:

[0122] A typical example of a scene containing negative obstacles is used to more clearly represent the process of the present invention.

[0123] The point cloud data of the embodiment is collected by two lidars installed in the front of the vehicle. The arrangement and acquisition methods of the two lidars are as follows: figure 2 and image 3 As shown, the laser radar works in the way of multi-line laser rotary scanning, and one laser line corresponds to a continuous distribution of point clouds.

[0124] Scene opinion Figure 4 , where the upper left is the top view of the lidar point cloud, the upper right is the real image of the scene, the middle right is the corresponding grid attribute map, and the lower is the 3D rend...

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Abstract

The invention discloses a negative obstacle detection method based on the local structure feature of a laser radar point cloud. In collected laser radar point cloud data, three structure features including local point cloud distance hopping, local point cloud dense distribution and local point cloud height decreasing are detected line by line; on the basis of the three structure features, candidate point pairs which may belong to a negative obstacle are obtained through extraction and screening in single line laser point cloud; all candidate point pairs obtained by the laser point cloud of each line laser are clustered on the basis of point pair length consistency and spatial position consistency to obtain a negative obstacle candidate area; and through area filtering and point pair amount filtering, obtaining a negative obstacle area. By use of the method, the negative obstacle in environment can be effectively detected, and the method has the advantages of good detection success rate, small calculation cost and high instantaneity.

Description

technical field [0001] The invention relates to a robot obstacle avoidance detection method, in particular to a negative obstacle detection method based on local structural features of laser radar point cloud for unmanned vehicle navigation. Background technique [0002] Traditional methods for negative obstacle detection include detection methods based on thermal infrared images, color images and binocular vision. The negative obstacle detection method based on thermal infrared images uses a thermal infrared camera to collect images, and detects negative obstacles in the environment according to the characteristics of the temperature difference between the negative obstacles and the ambient temperature. The disadvantage of this detection method is that it is very sensitive to changes in ambient temperature. The color image-based negative obstacle detection method uses a color camera to collect images, and extracts color models and geometric models from image sequences to d...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/62
CPCG06V20/58G06F18/23
Inventor 林辉项志宇邹楠张佳鹏
Owner ZHEJIANG UNIV
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