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Depth filling densification system and method based on laser radar and images

A lidar and depth technology, applied in the field of sensor fusion, can solve the problem of inability to perceive the color information of objects and three-dimensional information, and achieve the effect of reducing the number of point clouds

Active Publication Date: 2019-06-21
SUN YAT SEN UNIV
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AI Technical Summary

Problems solved by technology

Lidar can provide accurate external depth information, but it cannot perceive object color information and provide dense three-dimensional information. By fusing visual sensors and using texture colors provided by visual sensors, information can be supplemented and densified in three-dimensional space.

Method used

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  • Depth filling densification system and method based on laser radar and images
  • Depth filling densification system and method based on laser radar and images
  • Depth filling densification system and method based on laser radar and images

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Embodiment Construction

[0026] The accompanying drawings are for illustrative purposes only, and should not be construed as limiting the present invention; in order to better illustrate this embodiment, certain components in the accompanying drawings will be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art It is understandable that some well-known structures and descriptions thereof may be omitted in the drawings. The positional relationship described in the drawings is for illustrative purposes only, and should not be construed as limiting the present invention.

[0027] Such as figure 1 As shown, a depth filling dense system based on lidar and image, including data acquisition module, segmentation module, normal vector estimation module and depth filling module; among them,

[0028] The data acquisition module is used to collect the environmental data of the laser radar and camera sensor carried by the unmanned vehicle, and pass the ob...

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Abstract

The invention relates to a depth filling densification system and method based on a laser radar and images. According to the depth filling densification system and method based on the laser radar andimages of the invention, a 3D laser radar and visual sensors are adopted; the laser radar acquires the three-dimensional information of an object, with the assistance of the color information of camera sensors realized, accurate road surface extraction can be realized; information replenishment and densification are performed on a three-dimensional space on the basis of texture colors provided bythe visual sensors; the normal vectors of super-pixels are estimated, so that the number of laser radar point clouds needed to establish a planar model can be reduced; and the system and method can adapt to the installation of different laser radars and different equipment. The system and method of the invention have the advantages of novel ideas, wide applicable scene range, low requirements forlaser radar equipment, low sensor requirements for sensor fusion and great novelty.

Description

technical field [0001] The present invention relates to the technical field of sensor fusion, and more specifically, to a depth-filling dense system and method based on lidar and images. Background technique [0002] With the development of the times, sensor fusion has become an increasingly important topic. Lidar can provide accurate external depth information, but it cannot perceive object color information and provide dense three-dimensional information. By fusing visual sensors and using the texture and color provided by visual sensors, information can be supplemented and densified in three-dimensional space. The 3D information fused in the early stage can provide more diverse features for road feature extraction, thereby greatly improving the accuracy and reliability of the environment perception technology based on depth information. Contents of the invention [0003] In order to overcome at least one of the defects described in the above-mentioned prior art, the pr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/89G01C11/02G01C11/04
Inventor 潘子宇陈龙
Owner SUN YAT SEN UNIV
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