Laser positioning initialization method

Abstract

The invention provides a laser positioning initialization method. The laser positioning initialization method comprises the steps: splicing frame point cloud information of a plurality of point cloudsequences is obtained, and sampling is conducted to obtain a plurality of sampled point clouds; a point cloud distribution center is determined, main component analysis is conducted accordingly, a main component analysis characteristic matrix is generated, and a characteristic coordinate system is constructed accordingly; according to the point cloud distribution center and the characteristic coordinate system, the sampled point clouds are divided to generate a plurality of quadrants which store the reflectivity and / or height of the corresponding sampled point clouds through a three-dimensional histogram; characteristic files are named according to local position coordinates of splicing frame point clouds; the first number of characteristic files corresponding to the splicing frame point clouds with the distance within the preset second distance are obtained, and first matching calculation is conducted to determine the second number of characteristic files; the second number of real-time positions of the current frame point clouds are calculated; the second number of characteristic files are horizontally moved for second matching calculation; and when a preset threshold value is exceeded, it is determined that initialization of laser positioning is completed. Thus, the feasible environment for laser initialization is broadened.

Description

technical field [0001] The invention relates to the technical field of data processing, in particular to a laser positioning initialization method. Background technique [0002] With the continuous improvement of the level of science and technology in recent years, the rapid development of artificial intelligence has been widely used in various fields. Among them, since autonomous vehicles can efficiently utilize traffic resources, alleviate traffic congestion, and reduce carbon emissions, autonomous driving technology has increasingly become the focus of attention. However, autonomous driving for passenger vehicles is still far from commercialization. The small low-speed sanitation sweeper in a limited environment provides a specific application scenario for the implementation of autonomous driving technology. On the other hand, due to the aging of the population, the cost of domestic labor is increasing year by year, and heavy repetitive manual labor increases people's wo...

AI Technical Summary

Problems solved by technology

[0009] The purpose of the embodiment of the present invention is to provide a laser positioning initialization method to solve the problem in the prior art that the initialization based on GNSS has high requirements on the environment or the initialization based on fixed points is affected by the initialization position and parking accuracy.

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