Multi-laser radar data fusing method with obstacle memory function

Abstract

The invention provides a multi-laser radar data fusing method with an obstacle memory function. The method comprises the steps that a main laser radar and an auxiliary laser radar are set; if an obstacle is visible only to the auxiliary laser radar, point cloud data coordinates, measured by the auxiliary laser radar, of the obstacle are transformed to global map coordinates; whether the global mapcoordinates corresponding to the point exist in a global data link list or not is judged, and if not, the global map coordinates are stored into the global data link list, and a life cycle is createdfor the point; if yes, one is added to the weight of the global map coordinates corresponding to the point; every the auxiliary laser radar circularly scans one cycle, the weight of the global map coordinates corresponding to the point is reduced, and the corresponding life cycle is shortened; the weight of the global map coordinates stored in the global data link list, the life cycle and the distance from the point to a robot are detected, it is selected that the point data is stored or the point is deleted or the point data is transformed into fused laser data. By means of the method with the obstacle memory function, multi-laser radar data can be effectively fused in real time, and noisy points are effectively filtered.

Description

technical field [0001] The invention relates to the technical field of laser radars, in particular to a multi-laser radar data fusion method with an obstacle memory function. Background technique [0002] As an important device for robot navigation, laser is equivalent to the eyes of the robot. When the robot avoids obstacles, the real-time and accuracy of laser data determine whether the robot can safely avoid obstacles. Due to problems such as structural occlusion and robot installation height, the performance of existing lidar equipment is poor, and the coverage of a single laser is limited. Therefore, multi-lidar coordination is required. [0003] The most important issue in multi-lidar coordinated operation is the fusion of multi-lidar data. Lidar high-speed scanning, taking 10hz, 2000-point data laser as an example, the laser needs to process 2000 data points every 0.1 second, each data point has a specific angle and time, and the time difference between points is onl...

AI Technical Summary

Problems solved by technology

Therefore, the frequency of message publishing will decrease due to forced waiting for time synchronization

The second is the direct fusion method: This method directly fuses multiple lidar data, which has obvious disadvantages. Not only will it cause synchronization errors due to time differences, and a large amount of noise will appear, but it also does not consider the barrier memory function.

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