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Sparse two-dimensional light detection and ranging based target detection and attitude estimation method

A two-dimensional laser radar and target detection technology, which is applied in the direction of measuring devices, electromagnetic wave re-radiation, radio wave measurement systems, etc., can solve the problems of high-precision three-dimensional laser radar, which is expensive and cannot be widely used, and achieves convenient implementation, Strong real-time performance and simple operation

Active Publication Date: 2018-09-18
XI AN JIAOTONG UNIV
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Problems solved by technology

Due to the high price of high-precision 3D lidar (such as 64-line lidar), it cannot be widely used in commercial unmanned vehicles. Therefore, the use of sparse 2D lidar with high cost performance and relatively high detection accuracy has great potential. Prospects

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  • Sparse two-dimensional light detection and ranging based target detection and attitude estimation method

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[0019] The technical solutions in the embodiments of the present invention will be described more clearly and completely below in conjunction with the accompanying drawings. It should be understood, however, that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein; rather, these embodiments are provided for a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0020] combine figure 1 , the sparse two-dimensional laser scans to the target contour and reflects to obtain the corresponding point cloud data. Therefore, in the point cloud data, most of the vehicles are in the shape of "L" (a few have "I" or "U"), while other small objects such as pedestrians are usually in irregular shapes.

[0021] combine figure 2 , this embodiment records a sparse two-dimensional lidar-based target detection and pose estimation method, incl...

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Abstract

Disclosed is a sparse two-dimensional light detection and ranging based target detection and attitude estimation method. The method includes removing outliers of light detection and ranging data by using statistics on distance between points in a point cloud, clustering point cloud data targets based on density expansion, judging the concaveness of the point cloud, and searching target attitude byusing attitude criteria. The above parts are connected sequentially, and finally, target attitude information of a current frame is output. The method of the invention designs an optimal bounding boxfitting the criteria, and carries out an optimal search on the orientation angle theta to obtain orientation angle information (i.e. two-dimensional attitude) of the target. The enforcement is convenient, the operation is simple, real-time requirements of autonomous vehicles can be satisfied, and the method has strong real-time performance.

Description

technical field [0001] The invention relates to the field of smart cars, in particular to a method for target detection and attitude estimation based on sparse two-dimensional laser radar. Background technique [0002] LiDAR (Light Detection and Ranging, LiDAR), that is, laser detection and ranging system, is a radar system that emits laser beams to detect the position, speed and other characteristics of the target. Generally, it consists of a laser transmitter, a laser receiver, a control system, Composed of an information processing system and a display device, it can obtain depth information in three-dimensional or two-dimensional space, that is, point cloud data, in a large range and with high precision. The working principle of the laser radar is that the laser transmitter emits a laser pulse signal. When the laser beam touches the target surface, an echo signal will be generated and captured by the receiver, and then processed by the information processing system to ca...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/06G01S17/42
CPCG01S17/06G01S17/42
Inventor 孙宏滨向钊宏杨帅吴进王潇辛景民郑南宁
Owner XI AN JIAOTONG UNIV
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