Obstacle detection method based on information fusing of laser radar and CCD camera

A laser radar and obstacle detection technology, applied in the direction of measuring devices, optical devices, electromagnetic wave re-radiation, etc., can solve the problem that the sensor is difficult to meet the environmental adaptability and detection accuracy at the same time, to meet the environmental adaptability and overcome the error. big effect
CN106774296AInactive Publication Date: 2017-05-31CHINA SOUTH IND GRP AUTOMATION RES INST
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
CHINA SOUTH IND GRP AUTOMATION RES INST
Publication Date
2017-05-31
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention provides an obstacle detection method based on information fusing of a laser radar and a CCD camera. The angle resolution of a two-dimensional image of the CCD camera is high, but the distance information of an obstacle cannot be acquired and the angle resolution is easily affected by external illumination and shadows. The laser radar is capable of acquiring distance information of the surrounding environment, wide in scanning range and less effected by external conditions, but the angle resolution is quite low compared with an image. By fusing the image information of the CCD camera and the distance information of the laser radar, the precise size of the shape of the obstacle can be acquired. According to the invention, problems of low precision and poor robustness of a single sensor in detection of obstacles are solved and the requirement for obstacle detection in the current environment perception system can be met.
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Description

technical field

[0001] The invention relates to a lidar and CCD camera obstacle detection device, and especially designs an obstacle detection method based on information fusion of laser radar and CCD camera. Realize the accurate detection of obstacles in high-risk complex environments, so as to ensure the normal and safe operation of vehicles. Background technique

[0002] Unmanned intelligent vehicles need to work in some harsh and high-risk complex environments, and a real-time and accurate environmental perception module is inseparable. A correct understanding of the surrounding environment is the fundamental prerequisite for ensuring the normal operation of the vehicle, and obstacle detection is used as an environmental perception module. An important part of the test, the accuracy of its detection cannot be ignored.

[0003] There are usually two conventional detection methods: the vision-based method, although the precise detection of obstacles can be achieved by vir...

Claims

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