Method and device for cliff detection
A technology of cliff and lidar, applied in the field of driverless car perception, to achieve the effect of robust and efficient detection, elimination of interference from miscellaneous points or noise points, and high precision
Active Publication Date: 2021-04-23
BEIJING INSTITUTE OF TECHNOLOGYGY +2
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However, due to the complex and changeable off-road environment and the fast driving speed of unmanned vehicles, there are higher requirements for the detection distance, detection accuracy and detection stability of cliff obstacles, so the above methods are no longer suitable for cliff detection in off-road scenarios.
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[0037] Preferred embodiments of the present invention will be specifically described below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the application and are used together with the embodiments of the present invention to explain the principle of the present invention.
[0038] This embodiment discloses a method for cliff detection, which can be used for cliff detection of unmanned vehicles in off-road scenarios.
[0039] Such as figure 1 As shown, the methods include;
[0040] Step S1. Obtain the lidar point cloud data obtained by scanning the cliff. The data of each point in the lidar point cloud data includes the distance between the laser point and the lidar, the horizontal angle and vertical angle of the radar line, and the laser reflection intensity.
[0041] The lidar point cloud data in this embodiment is collected by a multi-line 3D lidar. The multi-line 3D lidar is installed on the top bracket of the unmanned...
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The invention relates to a method and device for cliff detection, which belongs to the field of unmanned vehicle perception technology and solves the problem of cliff detection of unmanned vehicles in off-road scenes; the method includes: preprocessing the obtained laser radar point cloud data to obtain effective laser Radar point cloud data: Using the sliding window method, select effective lidar point cloud data with the same vertical angle to extract window feature data, and obtain the cliff area according to the distortion characteristics of the window feature data during the window sliding process. The present invention uses the laser radar point cloud data to make the cliff detection distance farther and the accuracy higher; the sliding window method is used to judge the cliff area instead of the height and distance characteristics of a single point, and the interference of miscellaneous points or noise points is eliminated, so that Detection is more robust and efficient.
Description
technical field [0001] The invention relates to the technical field of driverless car perception, in particular to a method and device for cliff detection. Background technique [0002] Unmanned vehicles belong to ground mobile robots. The perception technology of robots is crucial to the navigation and obstacle avoidance of ground mobile robots, especially in off-road scenarios where the road environment is harsh. Among them, the cliff obstacle is a strictly impassable obstacle, which must provide correct and stable detection, otherwise the unmanned vehicle will easily fall into the cliff and cause damage. [0003] At present, the cliff detection of ground mobile robots mostly uses infrared, ultrasonic or the combination of infrared and ultrasonic to obtain the distance of cliff obstacles and brake more accurately. These technologies are mainly applicable to low-speed mobile robots working in relatively regular indoor environments. However, due to the complex and changea...
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IPC IPC(8): G01S17/931G01S17/42
CPCG01S17/42G01S17/931
Inventor 龚建伟张欣熊光明朱宝昌齐建永吴绍斌
Owner BEIJING INSTITUTE OF TECHNOLOGYGY