Multi-line laser radar and GPS-based three-dimensional road construction method

Abstract

The invention discloses a multi-line laser radar and GPS-based three-dimensional road construction method. According to the invention, the three-dimensional point cloud data of an all-angle and all-directional surrounding space can be dynamically collected through adjusting a multi-line laser radar and a high-precision GPS. Meanwhile, collected discrete non-associated sparse point cloud data are correlated through the absolute geographic position information acquired by the high-precision GPS, and then the absolute geographic position of each point in the point cloud data is calculated throughthe correlation. Therefore, radar point cloud data collected at different time and in different tracks can be fully and effectively utilized. Finally, the point cloud data which are dense enough areobtained through mutually correlated point cloud data. After that, dynamic objects in the point cloud data are filtered out through the differential method. In this way, the three-dimensional map of areal road can be constructed based on the remained point cloud data of static objects. The constructed three-dimensional map of the road is real, accurate and reliable. Meanwhile, dynamic moving objects can be removed through the differential method. The obtained three-dimensional map of the road is clean and relatively high in reducibility.

Description

technical field [0001] The invention belongs to the technical field of three-dimensional road modeling, and in particular relates to a three-dimensional road construction method based on multi-line laser radar and GPS. Background technique [0002] The current common 3D map construction method is to simulate the 3D model of the road through the geographical location of the road, which cannot restore the real road information, such as trees and buildings around the road; Reconstruction of road 3D model, this method is complicated and the accuracy is not high. [0003] With the advent of multi-line lidar, it has become a new technology to build a 3D model through multi-line lidar. At present, the common multi-line lidar such as 32-line and 64-line lidar, although the collected point cloud data can roughly establish the surrounding area. 3D model, but because the point cloud data is too discrete and not dense enough, and there is no relevant information between multi-frame poi...

AI Technical Summary

Problems solved by technology

[0002] The current common 3D map construction method is to simulate the 3D model of the road through the geographical location of the road, which cannot restore the real road information, such as trees and buildings around the road; Reconstructing the 3D model of the road, this method is complex and the accuracy is not high

[0003] With the advent of multi-line lidar, it has become a new technology to build a 3D model through multi-line lidar. At present, the common multi-line lidar such as 32-line and 64-line lidar, although the collected point cloud data can roughly establish the surrounding area. 3D model, but because the point cloud data is too discrete and not dense enough, and there is no relevant information between multi-frame point cloud data, information cannot be reused, so it is not enough to build a 3D map of the real road, and due to technology and cost However, it is not practical to use lidar with more wire harnesses to build 3D models

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