High-precision three-dimensional point cloud map construction method based on low-cost equipment

A 3D point cloud and map construction technology, applied in 3D modeling, image analysis, image data processing, etc., can solve the problems of high cost, difficult equipment maintenance, and large one-time investment, so as to achieve high cost and save map building cost effect

Active Publication Date: 2019-06-25
AUTOCORE INTELLIGENT TECH NANJING CO LTD
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Problems solved by technology

High cost, large one-time investment, and difficult equipment maintenance are the main problems fa

Method used

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  • High-precision three-dimensional point cloud map construction method based on low-cost equipment
  • High-precision three-dimensional point cloud map construction method based on low-cost equipment
  • High-precision three-dimensional point cloud map construction method based on low-cost equipment

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Example Embodiment

[0025] Examples:

[0026] Such as figure 1 As shown, this embodiment provides a low-cost laser point cloud hardware combination solution for autonomous driving scene map construction, using low-cost satellite navigation signal receiving equipment (error level: meters), IMU (inertial measurement unit) and low cost Lidar (16 lines, 32 lines). The hardware system consists of four parts: laser point cloud acquisition unit, imu data acquisition unit, gps data acquisition unit, and computing platform.

[0027] 1> The laser point cloud acquisition unit uses a 32-line lidar to collect 3D point cloud data at a frequency of 10 Hz. This unit provides the system with accurate point cloud data with time stamps, and is the most important part of the entire system.

[0028] 2> The imu data acquisition unit uses a thousand-yuan low-cost imu, and the program completes the zero drift correction and temperature compensation after power-on. This unit provides the system with high-frequency (50Hz) acc...

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Abstract

The invention aims at an automatic driving scene, and provides a high-precision three-dimensional point cloud map construction method based on low-cost equipment, and the method comprises the steps: sequentially carrying out the five steps: point cloud preprocessing, inter-frame registration, key frame screening, gps and imu data fusion and key frame pose optimization construction on a low-cost three-dimensional point cloud map construction platform, and generating a three-dimensional point cloud map. The platform is composed of a laser point cloud acquisition unit, an imu data acquisition unit, a gps data acquisition unit and a computing platform, wherein the laser point cloud acquisition unit adopts a 16-line or 32-line laser radar. The gps data acquisition unit adopts low-cost gps withan error level of meter and provides low-frequency latitude and longitude information for the system. And the imu data acquisition unit provides high-frequency acceleration and angular velocity information for the system. According to the method, low-cost mapping equipment is used in cooperation with a brand new mapping algorithm, and the construction cost of the three-dimensional point cloud mapis saved on the premise that the same precision is met.

Description

technical field [0001] The invention belongs to the technical field of automatic driving, and relates to a laser radar system and method for drawing maps, in particular to a high-precision three-dimensional point cloud map construction method based on low-cost equipment for automatic driving scenes. Background technique [0002] In the field of autonomous driving, the vehicle needs to obtain its own position and attitude at all times, and make decisions on the next behavior (acceleration, deceleration, steering) based on this. The current vehicle obtains the current position mainly through two methods. [0003] The first is to use the navigation satellite signal to calculate the current latitude and longitude of the vehicle through the three-point positioning method, and then match the current position in the two-dimensional map containing the latitude and longitude information. At the same time, calculate the body posture according to the adjacent position information. Thi...

Claims

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Application Information

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IPC IPC(8): G06T17/05G06T7/30G06K9/62G01C21/32
Inventor 刘心刚李赵张旸陈诚
Owner AUTOCORE INTELLIGENT TECH NANJING CO LTD
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