Point cloud correction method, device and readable storage medium
A point cloud and point cloud data technology, applied in image enhancement, instrumentation, computing, etc., can solve the problems of fusion point cloud delay, poor use effect, confusion, etc., to achieve stable and reliable data source, improve fusion accuracy, and improve overall accuracy Effect
Active Publication Date: 2021-04-23
ECARX (HUBEI) TECHCO LTD
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In this process, due to the different characteristics of the two point cloud generation schemes, the fused point cloud usually produces delays, misalignment, confusion, etc., and the subsequent use in the field of unmanned driving is less effective.
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[0044] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. the embodiment. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0045] Perception, high-precision positioning, decision-making, and control together constitute the core modules in the field of unmanned driving. Among them, perception and high-precision positioning are extremely dependent on point clouds. There are usually two ways to generate the so-called point cloud: one is to generate interactively through the sensor and the external environm...
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The present invention provides a point cloud correction method, device and readable storage medium, which relate to the field of unmanned driving technology, including obtaining the first point cloud data and the second point cloud data at the same moment, and combining the first point cloud data and the second point cloud data The two point cloud data are mapped to the same coordinate system, the overlapping area between the first point cloud data and the second point cloud data is the third point cloud data, and a multi-level error equation is constructed based on the third point cloud data, and the correction result is calculated, and according to the correction result Obtain the corrected first point cloud data and / or the corrected second point cloud data, improve the fusion accuracy of the laser point cloud and visual point cloud, and then improve the overall accuracy of the output fusion point cloud, and provide future support for unmanned driving. The technical solution provides a stable and reliable data source.
Description
technical field [0001] The present invention relates to the technical field of unmanned driving, in particular to a point cloud correction method, device and readable storage medium. Background technique [0002] At present, in order to obtain a high-precision, robust, and stable point cloud, the conventional solution is to fuse the point cloud generated through the interaction between the lidar and the external environment, and the point cloud generated by the physical model algorithm after the visual sensor perceives the external environment. Then generate a high-precision point cloud. In this process, due to the different characteristics of the two point cloud generation schemes, the fused point cloud usually produces delays, misalignment, confusion, etc., and the subsequent use effect in the field of unmanned driving is poor. Contents of the invention [0003] In view of this, the purpose of the present invention is to provide a point cloud correction method, device a...
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IPC IPC(8): G06T5/50
Inventor 余杰
Owner ECARX (HUBEI) TECHCO LTD