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

Inactive Publication Date: 2017-05-31
CHINA SOUTH IND GRP AUTOMATION RES INST
View PDF4 Cites 24 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is that it is difficult for a single sensor in the field of unmanned intelligent vehicles to meet the requirements of environmental adaptability and detection accura

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Obstacle detection method based on information fusing of laser radar and CCD camera
  • Obstacle detection method based on information fusing of laser radar and CCD camera

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0015] The present invention will be described in detail below in conjunction with the accompanying drawings. figure 1 Is the hardware frame diagram of the present invention, such as figure 1 As shown, the laser radar and CCD camera obstacle detection device involved in the method is composed of a laser radar 11 , a CCD camera 12 , a network switch 13 and an information processing computer 14 . The point cloud data collected by the laser radar 11 and the image data collected by the CCD camera 12 are transmitted to the information fusion computer 14 through the network switch 13, and the information fusion computer 14 transforms the obtained point cloud data and image data into the same coordinate system, and 32 The distance information of the laser radar 11 is fused with the color and texture information of the CCD camera 12 to finally obtain the position coordinates and external dimension information of the obstacle.

[0016] figure 2 It is a program flowchart of the pre...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

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.

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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G05D1/02G01S17/93G01B11/02
CPCG05D1/0257G01B11/022G01S17/93
Inventor 张春华王钤张穗华杨亮雷巍罗凌江吕卫强邓博文雷丝雨高洁
Owner CHINA SOUTH IND GRP AUTOMATION RES INST
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap