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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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.
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