A road surface three-dimensional feature collection method and device based on a laser grid

A laser grid and acquisition device technology, applied in the field of intelligent service systems, can solve the problems of increasing the difficulty of image stereo matching, difficulty in meeting real-time requirements, and large amount of calculation for 3D reconstruction, so as to improve the real-time performance of the system and improve driving safety performance, fast processing speed

Pending Publication Date: 2019-05-21
TIANJIN UNIVERSITY OF TECHNOLOGY
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Problems solved by technology

Stereo matching is the key to the 3D reconstruction of the binocular vision system. However, during the driving process of the car, the road conditions are complex, the weather and light are changeable, and the camera is too much interfered by the external environment. The collected images contain a lot of invalid information and noise, which increases the The di...

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  • A road surface three-dimensional feature collection method and device based on a laser grid
  • A road surface three-dimensional feature collection method and device based on a laser grid

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Embodiment Construction

[0032] The present invention will be further described in detail below in conjunction with the accompanying drawings. The following embodiments are only descriptive, not restrictive, and cannot limit the protection scope of the present invention.

[0033] A laser grid-based road surface three-dimensional feature acquisition device, including a housing 5, in which two cameras 3 and 6, a laser grid generator 4 and a central control processing system are installed, wherein the two cameras are arranged symmetrically At the housing positions on the left and right sides of the laser grid generator, the laser grid generator is parallel to the optical axes of the two cameras. Both the laser grid generator and the binocular camera are controlled by the central control module, and the images of the cameras The signal is transmitted to the central control processing module by link communication. Its working process is:

[0034] 1. Establish a coordinate system with the center of the las...

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Abstract

The invention relates to a road ground three-dimensional feature collection method and device based on a laser grid. The device includes a housing; two cameras, a laser grid generator and a central control processing system are arranged in the shell; the two cameras are symmetrically arranged at the positions, on the left side and the right side of the laser grid generator, of the shell, the lasergrid generator is parallel to the optical axes of the two cameras, the laser grid generator and the binocular camera are both controlled by the central control module, and image signals of the cameras are transmitted to the central control processing module through link communication. the topographic features of the ground are obtained in real time by adopting a method of combining stereoscopic vision and laser grid projection, real-time data are provided for path planning and decision making in automatic driving or auxiliary driving, dangers such as road pits and obstacles are avoided in time, and the driving safety is greatly improved.

Description

technical field [0001] The invention belongs to the field of intelligent service systems, and relates to automobile driving equipment, in particular to a laser grid-based method and device for collecting three-dimensional features of road surfaces. Background technique [0002] Road environment perception technology is the "eye" for automatic driving, and it is also the basis for obtaining information about vehicles and their surrounding environment for path planning and calculation. It uses the sensors on the vehicle to collect data on the surrounding driving environment information, providing decision-making basis for path planning of automatic driving or assisted driving, and ensuring driving safety. [0003] The currently used environmental perception sensors mainly include laser radar, machine vision camera, millimeter wave radar, ultrasonic radar, etc. Among them, lidar has fast response speed, long detection distance, and high accuracy. It is a solution with high mea...

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Application Information

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IPC IPC(8): G06T17/05G06T7/80
Inventor 朱均超张宝峰豆梓文李建文韩芳芳赵岩
Owner TIANJIN UNIVERSITY OF TECHNOLOGY
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