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Point cloud data processing method, device and equipment, vehicle and storage medium

A point cloud data and processing method technology, applied in the direction of measuring devices, control devices, vehicle components, etc., can solve the problem of low accuracy of point cloud data, achieve the effects of reducing time difference, improving data accuracy, and reducing costs

Active Publication Date: 2019-06-07
APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] This application provides a point cloud data processing method, device, equipment, vehicle and storage medium to solve the defects of the prior art point cloud data such as low accuracy

Method used

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  • Point cloud data processing method, device and equipment, vehicle and storage medium
  • Point cloud data processing method, device and equipment, vehicle and storage medium
  • Point cloud data processing method, device and equipment, vehicle and storage medium

Examples

Experimental program
Comparison scheme
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Embodiment 1

[0031] This embodiment provides a method for processing point cloud data, which is used for processing data collected by sensors during automatic driving of a vehicle. The execution subject of this embodiment is a point cloud data processing device, which can be set on a vehicle or other equipment that needs to perceive the surrounding environment information, or can be set on a computer device, which can be set on a vehicle or other On devices that need to perceive information about the surrounding environment.

[0032] Such as figure 1 As shown, it is a schematic flow chart of the method for processing point cloud data provided by this embodiment, and the method includes:

[0033] Step 101, acquiring raw data collected by sensors on the vehicle according to a preset frequency.

[0034] Specifically, the vehicle can be an autonomous driving vehicle, a semi-autonomous driving vehicle, etc. The vehicle is equipped with multiple lidars, and of course other sensors such as came...

Embodiment 2

[0049] This embodiment provides a further supplementary description of the point cloud data processing method provided in the first embodiment above.

[0050] Such as figure 2 As shown, is a schematic flow chart of the point cloud data processing method provided in this embodiment.

[0051] As an implementable manner, on the basis of the first embodiment above, optionally, data fusion processing is performed according to the raw data of each sensor to obtain a fusion result, which may specifically include:

[0052] When the number of times of acquisition reaches the preset number of times, the raw data of the preset times of each sensor are subjected to data fusion processing to obtain a fusion result.

[0053] Specifically, a preset number of times can be set, and when the number of times of obtaining raw data reaches the preset number of times, the raw data of these times will be combined for data fusion. The specific preset number of times can be set according to actual n...

Embodiment 3

[0082] This embodiment provides a device for processing point cloud data, which is used to execute the method in the first embodiment above.

[0083] Such as image 3 As shown, is a schematic structural diagram of the point cloud data processing device provided in this embodiment. The point cloud data processing device 30 includes an acquisition module 31 and a processing module 32 .

[0084] Wherein, the obtaining module 31 is used to obtain the raw data collected by the sensors on the vehicle according to a preset frequency; the processing module 32 is used to perform data fusion processing according to the raw data of each sensor to obtain a fusion result.

[0085] Regarding the apparatus in this embodiment, the specific manner in which each module executes operations has been described in detail in the embodiment of the method, and will not be described in detail here.

[0086] According to the point cloud data processing device provided in this embodiment, by obtaining ...

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Abstract

The invention provides a point cloud data processing method, device and equipment, a vehicle and a storage medium. The point cloud data processing method comprises: obtaining original data collected by a sensor on the vehicle according to preset frequency; and performing data fusion processing according to the original data of each sensor to obtain a fusion result. Through obtaining original datacollected by a sensor on a vehicle in the latest period according to a preset frequency, data fusion is carried out, a fusion result is obtained, a synchronous clock source can be removed, weak clocksynchronization is achieved, the cost is effectively reduced, the preset frequency can be flexibly set, the time difference between original data of all sensors can be reduced by setting a large value, and the data accuracy is improved.

Description

technical field [0001] The present application relates to the technical field of automatic driving, and in particular to a point cloud data processing method, device, equipment, vehicle and storage medium. Background technique [0002] In the process of vehicle automatic driving, it is usually necessary to use sensors such as lidar and camera to collect environmental information around the vehicle and form three-dimensional point cloud data. [0003] When collecting environmental information, the physical points that each laser radar can scan are limited. Therefore, a single laser radar cannot obtain complete information around the vehicle, and multiple laser radars need to be installed on the vehicle to rotate and scan in different directions. When there are many laser radars, the physical points scanned by different laser radars are different, and the physical points scanned by multiple laser radars may be out of sync. In the prior art, a synchronous clock is usually set ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/62G01D21/02
CPCG06V20/56G06V10/803G06F18/251B60W50/0205B60W30/18B60W2720/106B60W2050/0215B60W50/038B60W2556/00
Inventor 杨凡李云龙陈臣荆荣讯
Owner APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD
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