Laser radar type vehicle width measuring method based on multi-frame matching
A technology of vehicle width and measurement method, which is applied in the field of automatic detection of vehicle outline, can solve the problems of inconsistent measurement results with actual conditions, complex hardware equipment installation structure, and undetectable objects, etc., achieving good practical value and promotion prospects, and saving Precious time, avoiding the effect of repeated re-examination
Inactive Publication Date: 2019-05-10
ZHEJIANG UNIV OF TECH
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Problems solved by technology
[0003] 1) When there are illegally installed poles, brackets, anti-collision bars and other objects beyond the body of the vehicle, these objects may not be detected, causing the measurement results to be inconsistent with the actual situation;
[0004] 2) The installation structure of the required hardware equipment is complicated, the cost is high, the reliability is not high, and different sensors need to be synchronized;
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[0025] The specific implementation of a laser radar-type vehicle width measurement method based on multi-frame matching in the present invention will be described in detail below in conjunction with the embodiments. Among them, the lidar and the photoelectric switch sensor are connected to the hardware integrated control box through the serial port line, and the hardware integrated control box is connected to the host computer through the network cable.
[0026] A lidar type vehicle width measurement method based on multi-frame matching, the specific steps are as follows:
[0027] Step 1: The left and right lidars collect point cloud coordinate data, and convert the point cloud coordinate data into the same coordinate system. The obtained left radar point cloud coordinate data set is expressed as L={(x ij ,y ij )|i=0,1,2,...,n-1,j=0,1,...,Q-1}, where n represents the number of frames of point cloud coordinate data obtained by the left radar, each frame There are Q coordinate p...
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The invention provides a laser radar type vehicle width measuring method based on multi-frame matching. All point cloud coordinate data obtained in a time period of performing external contour size detection on a vehicle by left and right laser radars is taken as an input of the method, and an output of the method is namely a calculated vehicle width measuring value. An error between the vehicle width calculated through the method and an actual value is far smaller than an error between the vehicle width calculated by other vehicle width calculation methods adopted in the current market and the actual value. According to the method, the error of measurement due to a deflection angle between an advancing direction and a central axis of the vehicle is eliminated; the synchronization requirement of the left and right radars is overcome, and part of noise data is removed; and repeated rechecking and even manual measurement can be remarkably avoided.
Description
technical field [0001] The invention belongs to the field of automatic detection of vehicle outlines, in particular to a laser radar type vehicle width measurement method based on multi-frame matching. Background technique [0002] Using the common laser radar-based automatic measurement system for vehicle outline dimensions on the market to measure vehicle outline dimensions, the calculation of vehicle width parameters is relatively complicated and has large errors. Larger errors will cause the vehicle to need re-inspection or even manual measurement. The working efficiency of the detection work is reduced, the workload of the staff of the detection station is increased, and the time of the car owner and the detection personnel is wasted. Currently, the technical solution that is closer to the present invention involves the vehicle width measurement method based on laser radar point cloud coordinate data: Invention patent (application number: 201410684562.2, name: a method...
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IPC IPC(8): G01S17/08G01B11/03
Inventor 王孖豪高飞刘浩然汪鹏飞陈丽格卢书芳张元鸣肖刚
Owner ZHEJIANG UNIV OF TECH