Point cloud coordinate conversion method and device

A technology of coordinate conversion and point cloud, which is applied in measurement devices, reflection/re-radiation of radio waves, utilization of re-radiation, etc., which can solve the problems of complicated calculation, long time, and deviation of data conversion accuracy.

Active Publication Date: 2019-06-28
NEOLIX TECH CO LTD
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This process is generally cumbersome to calculate, takes a long time, an

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  • Point cloud coordinate conversion method and device
  • Point cloud coordinate conversion method and device
  • Point cloud coordinate conversion method and device

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Embodiment Construction

[0079] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments It is only a part of the embodiments of the present application, but not all the embodiments. The components of the embodiments of the application generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Accordingly, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by ...

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Abstract

The embodiment of the invention provides a point cloud coordinate conversion method and a point cloud coordinate conversion device. The method comprises the following steps: determining a fitting ground plane according to point cloud data which is screened out of the acquired three-dimensional point cloud data, wherein the point cloud data and the horizontal two-dimensional plane of a navigation coordinate system are positioned on the same plane; based on the normal vector of the fitting ground plane, correcting each acquisition point in the three-dimensional point cloud data into the ground coordinate system; acquiring a plane transformation matrix which is transformed from the ground coordinate system to the navigation coordinate system; and based on the plane transformation matrix, translating each acquisition point into the navigation coordinate system and determining the coordinates of each acquisition point in the navigation coordinate system. Therefore, the two-dimensional planetransformation matrix is solved, three-dimensional space solution is conducted, the calculation step can be simplified, and the calculation efficiency and the conversion accurate rate are improved.

Description

technical field [0001] The present application relates to the field of automatic driving, in particular to a point cloud coordinate conversion method and device. Background technique [0002] With the rapid development of computer technology, automatic driving technology also develops. For automatic driving, an essential job is to calculate its own position and the relative distance between itself and roads, other vehicles, pedestrians and other traffic elements. Positional relationship, in order to describe these complex spatial and temporal relationships, it is necessary to establish a coordinate system to describe. In the field of autonomous driving, multiple sets of coordinate systems can be established to describe their own positions. The multiple sets of coordinate systems need to complete association and conversion, and finally construct Create a unified environment model. Lidar is one of the most important sensors in the field of autonomous driving. The data collect...

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Application Information

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IPC IPC(8): G01S13/93G01S13/42G01C21/26G01C21/16
Inventor 刘文佳余恩源曾文达
Owner NEOLIX TECH CO LTD
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