Intelligent laser radar device, system and data processing method
A technology of lidar and radar data, applied in measurement devices, radio wave measurement systems, and re-radiation of electromagnetic waves, etc., can solve the problems of unformed smart sensor module cameras and lidar information synchronization, etc., to ensure synchronization and stability. performance, improve intelligence, and improve ease of use
Pending Publication Date: 2019-01-18
清华大学苏州汽车研究院(吴江)
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It does not form a real smart sensor module and ensure the synchronization of camera and lidar information
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[0029] The principles and features of the present invention are described below in conjunction with the accompanying drawings, and the examples given are only used to explain the present invention, and are not intended to limit the scope of the present invention.
[0030] Such as figure 1 Shown is an intelligent laser radar device provided by the present invention. Its hardware part mainly includes monocular camera 1, laser radar 2, mechanical components 3 and embedded processing terminal 4. It is worth noting that, figure 1 It is only an example, and the installation methods and relative positions of the monocular camera 1 , the laser radar 2 and the embedded processing terminal 4 on the mechanical component 3 may have different designs according to actual conditions. The monocular camera 1 is connected with the embedded processing terminal 4 through the camera data line 6, the laser radar 2 is connected with the embedded processing terminal 4 through the radar data line 5, ...
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The invention discloses an intelligent laser radar device, system and data processing method. The device comprises a monocular camera, a laser radar, a mechanical component and an embedded processingterminal, wherein the monocular camera, the laser radar and the embedded processing terminal are all installed on the mechanical component; the monocular camera is connected with the embedded processing terminal through a camera data line; the laser radar is connected with the embedded processing terminal through a radar data line; and the embedded processing terminal outputs processed data through a fusion data line. The real-time information of the laser radar and the monocular camera fusion is fused; the camera data is subjected to semantic segmentation through a deep learning algorithm; the information fusion is carried out through a pose relation between the camera and the laser radar; the intelligent laser radar system is realized; the data is output through the same data link; and the modularization and synchronization of the system are improved.
Description
technical field [0001] The invention relates to the field of automatic driving, in particular to an intelligent laser radar device, system and data processing method thereof. Background technique [0002] The core connotation of autonomous driving includes four parts: positioning, perception, decision-making, and execution. The main function of the perception layer is to collect and process environmental information and in-vehicle information, such as vehicle speed, direction, motion posture, and traffic conditions, etc. The decision-making layer outputs information. This link involves various technologies such as road boundary detection, vehicle detection, pedestrian detection, etc. The sensors used generally include laser radar, camera, millimeter wave radar, ultrasonic radar, etc. Since each sensor has its own limitations when designing, a single sensor cannot meet the precise perception under various working conditions. If you want the vehicle to run smoothly in various...
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IPC IPC(8): G01S17/02G01S7/481
CPCG01S7/481G01S17/02
Inventor 周坤孙辉张伟成波
Owner 清华大学苏州汽车研究院(吴江)