Region-based laser radar variable-density scanning system and method

Abstract

The invention discloses a region-based laser radar variable-density scanning system and method. According to the system and method, the three-dimensional fusion data of the image data of a video camera, the point cloud data of a laser radar or the image data and the point cloud data are analyzed, so that a critical region is obtained, the scanning region of the laser radar and the scanning densityof the laser radar are controlled according to the critical region, and control signals are sent to a laser transmitter; and the laser transmitter, based on the control signals sent by a laser scanning controller, transmits laser beams to perform laser scanning on the scanning region corresponding to the critical region with a first scanning density and transmits laser beams to perform laser scanning on scanning regions corresponding to regions other than the critical region with a second scanning density. Therefore, the effective data amount of the laser radar is improved, the scanning precision of the critical region is improved, invalid data amount is reduced, and the effective resolution of the laser radar can be increased.

Description

technical field [0001] The invention relates to the technical field of radar detection, in particular to an area-based laser radar variable density scanning system and a corresponding method. Background technique [0002] LiDAR is used to measure the position and distance of the external environment, and through time-sequential data, the speed of objects can be calculated. Lidar is often used in applications that require accurate object position information or speed information, such as automotive assisted driving, automatic driving, and three-dimensional mapping. At present, basically all lidar designs are limited to pure lidar functions, without image processing functions, and without built-in integrated video sensors. Lidars scan according to pre-booked scanning methods. At the same time, due to system limitations, the data density of lidar scanning is generally much lower than the pixels of video / image cameras. In many applications, the resolution of lidar cannot achie...

AI Technical Summary

Problems solved by technology

At present, basically all lidar designs are limited to pure lidar functions, without image processing functions, and without built-in integrated video sensors. Lidar scans in accordance with pre-booked scanning methods.

At the same time, due to system limitations, the data density of lidar scanning is generally much lower than the pixels of video / image cameras

In many applications, the resolution of LiDAR cannot achieve the desired goal

Images