Unlock instant, AI-driven research and patent intelligence for your innovation.

Point cloud intensity correcting method for moving two-dimensional laser radar

A two-dimensional laser radar, laser radar technology, used in radio wave measurement systems, instruments and other directions

Active Publication Date: 2019-09-06
NANJING FORESTRY UNIV
View PDF5 Cites 7 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, there is no method to eliminate the influence of distance and incident angle on the intensity of mobile 2D lidar. Therefore, the correction method for the intensity of mobile 2D lidar needs to be further studied.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Point cloud intensity correcting method for moving two-dimensional laser radar
  • Point cloud intensity correcting method for moving two-dimensional laser radar
  • Point cloud intensity correcting method for moving two-dimensional laser radar

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0065] Preferred embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although preferred embodiments of the invention are shown in the drawings, it should be understood that the invention may be embodied in various forms and should not be limited to the embodiments set forth herein.

[0066] The invention provides a method for correcting point cloud intensity of a mobile two-dimensional laser radar, the method comprising the following steps:

[0067] S1. Use the two-dimensional laser radar to extract the intensity data of the standard diffuse reflector at different scanning distances and incident angles, and establish the functions of the scanning distance and intensity values, as well as the functions of the incident angle and intensity values, specifically:

[0068] S1-1. Set the incident angle and the distance range of the laser radar [R min , R max ] and the distance interval xm of the laser radar; use t...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a point cloud intensity correcting method for ground moving two-dimensional laser. The method starts from the factors affecting the intensity difference, based on the principlethat the reflection intensity of the same kind of terrain is the same, a two-dimensional laser radar is used to extract the intensity data of a standard diffuse reflection plate under different scanning distances and angles, data-driven distance and incident angle correcting models are built respectively, and correcting parameters are solved by a least squares method; and then, a moving two-dimensional laser scanning system is adopted to perform moving scanning on an actual scene, the information such as the point cloud distance, the scanning angle and the intensity of the actual scene can beacquired, and based on the built correcting models, the influences of the distance and the incident angle on the intensity value are eliminated, and thus, the intensity of a homogenous region after correction tends to be unified.

Description

technical field [0001] The invention relates to a laser point cloud intensity correction method, in particular to a point cloud intensity correction method for ground mobile two-dimensional laser radar. Background technique [0002] The laser intensity is characterized as the optical power of the scanned target to the backscattered echo of the emitted laser beam. Due to factors such as scanner characteristics, atmospheric transmission, detector and amplifier circuit noise, and the geometry of the scanned object, the laser intensity value cannot be directly extracted as a reflection characteristic, but its value needs to be corrected to eliminate the influence of various factors. interference. Through the laser intensity correction, the attribute information of the scanning target is fully mined, and the research work of using the target characteristics to classify can be carried out. [0003] Current research shows that the corrected laser is of great value in the fields o...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G01S7/48
CPCG01S7/4802Y02A90/10
Inventor 陶冉李秋洁袁鹏成顾洲刘旭周宏平
Owner NANJING FORESTRY UNIV