A high-precision 3D point cloud map construction method based on low-cost equipment
A 3D point cloud and map construction technology, applied in image analysis, 3D modeling, image data processing, etc., can solve the problems of high cost, difficult equipment maintenance, large one-time investment, etc., and achieve high cost and save map construction. cost effect
Active Publication Date: 2019-08-09
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 faced in the construction of high-precision point cloud maps in the existing autonomous driving field
Method used
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Embodiment
[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 is composed of 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 laser radar to collect 3D point cloud data at a frequency of 10Hz. This unit provides accurate time-stamped point cloud data for the system, 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 zero drift correction and temperature compensation after power-on are completed by the program. This unit provides high-frequency (50Hz) acceleration and angular velocity i...
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The present invention provides a high-precision three-dimensional point cloud map construction method based on low-cost equipment for automatic driving scenarios. The low-cost three-dimensional point cloud map construction platform performs point cloud preprocessing, inter-frame registration, key frame selection, and fusion in sequence. GPS and imu data, key frame pose optimization construction five steps to generate 3D point cloud map. The platform consists of a laser point cloud acquisition unit, an IMU data acquisition unit, a GPS data acquisition unit and a computing platform. The laser point cloud acquisition unit adopts 16-line or 32-line laser radar; the GPS data acquisition unit adopts a low-cost GPS with an error level of meters, Provide low-frequency latitude and longitude information for the system; the imu data acquisition unit provides high-frequency acceleration and angular velocity information for the system. The present invention uses low-cost mapping equipment and a brand-new mapping algorithm, and saves the construction cost of the three-dimensional point cloud map under the premise of meeting the same accuracy.
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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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