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Ranging method based on laser line scanning imaging

A technology of scanning imaging and ranging method, which is applied in the field of scene reconstruction and environmental perception, can solve the problems of ranging and reconstruction errors, etc., and achieve the effect of weakening the impact, realizing fast scanning and image acquisition, and real-time environmental perception

Active Publication Date: 2019-07-19
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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Problems solved by technology

Among them, the use of imaging to realize environmental perception has the advantages of obtaining a large amount of information and low cost, but it is prone to interference caused by light scattering and reflection in bad weather such as rainy days and foggy days, so that the ranging and reconstruction problems are relatively large. error

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  • Ranging method based on laser line scanning imaging
  • Ranging method based on laser line scanning imaging
  • Ranging method based on laser line scanning imaging

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Embodiment Construction

[0015] The present invention will be further described below in conjunction with the accompanying drawings.

[0016] The following embodiments of the present invention use near-infrared line lasers as light sources to quickly scan surrounding scenes, and use cameras to collect images in special wavebands, and finally use these images to reconstruct surrounding scenes. This method avoids radar ranging, can effectively save costs, and uses imaging methods to realize environmental perception. At the same time, line lasers are used as light sources, and images of corresponding bands are collected, which can weaken the reflection and scattering of light in bad weather to a certain extent. influences.

[0017] The following embodiments of the present invention are applied to scene reconstruction and environment perception. Environmental perception technology based on imaging methods is widely used in research fields such as autonomous driving, but it is susceptible to interference ...

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Abstract

The invention provides a ranging method based on laser line scanning imaging, being capable of effectively suppressing the interference of extreme weather to imaging. The method comprises the following steps of collecting a prior reference pattern of a fixed laser line scanning system, separately placing a reference white board at positions with different distances, irradiating the white board byline laser, and collecting the reference patterns by a camera; placing laser line scanning equipment into a true scene, separately emitting line laser at different angles, and meanwhile, collecting the image of each scanning angle by using the camera; and by using the ranging algorithm based on the laser line scanning, integrally computing the collected true scene scanning images and the prior reference patterns, extracting the distance information of surrounding objects, and thus achieving environment sensing.

Description

technical field [0001] The invention belongs to the field of scene reconstruction and environment perception, and in particular relates to a technology for realizing distance measurement based on laser line scanning imaging. [0002] technical background [0003] The sensors used in autonomous driving currently mainly include millimeter-wave radar, lidar, and cameras. Among them, the use of imaging to realize environmental perception has the advantages of obtaining a large amount of information and low cost, but it is prone to interference caused by light scattering and reflection in bad weather such as rainy days and foggy days, so that the ranging and reconstruction problems are relatively large. error. Contents of the invention [0004] The purpose of the present invention is to improve the shortcomings of using imaging to realize scene reconstruction in the field of automatic driving, which is easily disturbed by harsh environments, and proposes a method for ranging an...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S11/12
CPCG01S11/12G06T7/521G06T11/003G06T2207/10028G06T2211/436
Inventor 张永兵黄熹之季向阳王好谦戴琼海
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV