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A laser radar-based three-dimensional mapping method

A technology of laser radar and radar, which is applied in the field of laser radar point cloud processing and laser radar surveying and mapping, can solve the problems of inapplicability and inability to realize real-time mapping, and achieve the effects of good real-time performance, cost reduction and low calculation amount

Active Publication Date: 2017-12-12
XIDIAN UNIV
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AI Technical Summary

Problems solved by technology

However, due to the need for batch processing to build high-quality maps, this method cannot achieve real-time mapping, and is not suitable for applications that require online mapping

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  • A laser radar-based three-dimensional mapping method
  • A laser radar-based three-dimensional mapping method
  • A laser radar-based three-dimensional mapping method

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Experimental program
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Embodiment Construction

[0022] refer to figure 1 , the implementation steps of the present invention are as follows:

[0023] Step 1, obtain point cloud V with coordinate information n .

[0024] (1a) Install the laser radar on a rotating platform controlled by a motor, and take the current position of the laser radar as the origin of the radar coordinate system, the front of the laser radar is the x-axis, and the radar coordinate system follows the right-hand rule;

[0025] (1b) The distance d from the scanned point to the origin of the laser radar output, the angle θ between the line l between the point and the origin and the zOy plane 1 , when the motor drives the lidar to rotate, the angle θ between the motor output l and the x-axis 2 ;

[0026] (1c) Use the angle θ between the distance d, l and the zOy plane from the point scanned in (1b) to the origin 1 and the angle θ between l and the x-axis 2 , solve the coordinates of each point in the lidar point cloud in the lidar coordinate system,...

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Abstract

The invention provides a laser radar-based three-dimensional mapping method. The method mainly solves the problem in the prior art that it is difficult for a 2D laser radar to draw detailed three-dimensional maps in real time without the support of other sensors. The method comprises the steps of firstly acquiring point cloud with coordinate information; performing filtering processing on the point cloud by using a bilateral filtering algorithm; then calculating the displacement of each feature point in the laser radar point cloud based on a laser radar ranging algorithm; finally registering the point cloud obtained through scanning to a world coordinate system by using a drawing algorithm to form a three-dimensional point cloud map. The method can finish a high-quality three-dimensional point cloud map in real time only by using a platform integrating laser radar and a motor without the support of other sensors. The method can be used for surveying and mapping of topographic data and exploration of unknown environment by mobile robots.

Description

technical field [0001] The invention belongs to the technical field of laser radar point cloud processing, in particular to a method for real-time three-dimensional drawing of a 2D laser radar in the field of laser radar surveying and mapping, which can be used for surveying and mapping terrain data and detecting unknown environments by mobile robots. Background technique [0002] Since lidar is not sensitive to ambient lighting and optical textures in the scene, most applications currently use lidar for localization and mapping. When the scanning rate of the lidar is much higher than its own motion, the distortion due to motion during scanning is usually negligible, in which case the standard ICP algorithm can be used for 3D mapping of the lidar. However, it is difficult to use lidar for 3D mapping on a moving platform. If the lidar itself moves fast, the distortion caused by the movement of the lidar during scanning will seriously affect the mapping. Therefore, when const...

Claims

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Application Information

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IPC IPC(8): G01S17/89
CPCG01S17/89
Inventor 孙伟刘立新
Owner XIDIAN UNIV